# 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_1v3.rte # Mission File: MAUV_Mata_1v3.cfg # Distance: 74385.672634 (m) # Estimated Time: 53069 (s) 14.741 (hr) # Abort Time: 60965 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2034 (s) # Way Points: 95 # Route Points: 693 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.6 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 35 (m) # Maximum Vehicle Depth: 2719.268921 (m) # Abort Vehicle Depth: 2744.268921 (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 -173.696025 -15.072445 -2694.954468 0.000000 3 # 1 -173.704336 -15.080159 -2573.190735 1236.492211 4 # 2 -173.711406 -15.080702 -2336.112244 1999.454383 3 # 3 -173.719190 -15.081123 -2071.144043 2838.155398 1 # 4 -173.725826 -15.082690 -1909.370605 3572.839521 1 # 5 -173.731035 -15.084679 -1784.288605 4174.944639 1 # 6 -173.736214 -15.086548 -1639.528229 4769.289148 1 # 7 -173.740772 -15.088988 -1508.332733 5329.134638 1 # 8 -173.744431 -15.091640 -1345.484314 5820.222481 1 # 9 -173.748339 -15.094262 -1179.808197 6331.133772 1 # 10 -173.751502 -15.096341 -1340.510651 6741.949272 4 # 11 -173.750757 -15.097336 -1400.675446 6878.187071 3 # 12 -173.744338 -15.093267 -1388.614197 7702.695982 4 # 13 -173.745889 -15.091248 -1384.467560 7981.650169 3 # 14 -173.752711 -15.095799 -1408.301331 8871.884245 4 # 15 -173.750664 -15.098601 -1492.834625 9252.340515 3 # 16 -173.742943 -15.093629 -1500.385559 10248.810686 4 # 17 -173.745796 -15.089802 -1474.928680 10772.027907 3 # 18 -173.753920 -15.095075 -1528.684509 11823.068812 4 # 19 -173.750385 -15.099957 -1573.686859 12483.989728 3 # 20 -173.741610 -15.094141 -1580.422394 13626.696408 4 # 21 -173.745889 -15.088356 -1572.434570 14415.486794 3 # 22 -173.755130 -15.094533 -1612.114380 15622.165857 4 # 23 -173.750478 -15.101404 -1654.447083 16532.794387 3 # 24 -173.740214 -15.094503 -1671.092102 17875.550082 4 # 25 -173.745734 -15.086849 -1665.926331 18910.374445 3 # 26 -173.756246 -15.093900 -1689.533081 20284.558760 4 # 27 -173.750571 -15.102850 -1747.023865 21448.499146 3 # 28 -173.738726 -15.094955 -1756.109650 22993.744801 3 # 29 -173.745920 -15.084950 -1781.447144 24345.098979 4 # 30 -173.746726 -15.085553 -1742.197845 24454.535936 3 # 31 -173.742261 -15.100650 -1729.082703 26193.785027 4 # 32 -173.743656 -15.101645 -1723.234375 26379.947971 3 # 33 -173.757083 -15.092635 -1744.700134 28135.393744 4 # 34 -173.757704 -15.093056 -1779.495575 28216.855497 3 # 35 -173.754199 -15.098692 -1504.571594 28945.969320 3 # 36 -173.758293 -15.101584 -1673.405060 29490.486474 1 # 37 -173.763967 -15.106828 -1953.117981 30332.921842 1 # 38 -173.768030 -15.110323 -2175.601318 30916.686598 1 # 39 -173.772774 -15.114482 -2401.331787 31604.062784 1 # 40 -173.779286 -15.120539 -2715.840149 32573.842487 4 # 41 -173.780248 -15.119665 -2738.293274 32715.523092 3 # 42 -173.773518 -15.113487 -2400.604492 33711.530689 1 # 43 -173.768774 -15.109329 -2185.455139 34398.834848 1 # 44 -173.764867 -15.105894 -1999.143250 34965.666783 1 # 45 -173.759099 -15.100831 -1704.260376 35801.893438 1 # 46 -173.755006 -15.097757 -1566.472534 36358.416859 3 # 47 -173.750571 -15.104387 -1832.934601 37233.932460 3 # 48 -173.737175 -15.095347 -1848.481415 38988.504196 3 # 49 -173.742106 -15.088476 -1538.772675 39915.964403 3 # 50 -173.736772 -15.085463 -1693.366425 40579.722343 1 # 51 -173.731500 -15.083594 -1831.124542 41183.458683 1 # 52 -173.726198 -15.081606 -1956.484283 41794.849448 1 # 53 -173.719314 -15.079978 -2111.900269 42557.057820 1 # 54 -173.711406 -15.079526 -2337.187195 43409.277821 1 # 55 -173.703375 -15.079044 -2596.444153 44274.902753 4 # 56 -173.703189 -15.081214 -2627.423401 44515.998696 3 # 57 -173.711282 -15.081847 -2363.340088 45389.454102 1 # 58 -173.719003 -15.082299 -2105.946899 46221.582892 1 # 59 -173.725329 -15.083745 -1937.087921 46920.711777 1 # 60 -173.730570 -15.085764 -1810.988770 47527.235784 1 # 61 -173.735687 -15.087572 -1654.241150 48112.986987 1 # 62 -173.740679 -15.090254 -1515.911835 48726.654149 3 # 63 -173.744803 -15.084679 -1805.459808 49486.835453 3 # 64 -173.758169 -15.093780 -1796.043915 51242.694086 3 # 65 -173.756153 -15.097155 -1651.528687 51674.764946 3 # 66 -173.759781 -15.099867 -1782.536774 52167.200679 1 # 67 -173.765611 -15.104990 -2050.936096 53012.832571 1 # 68 -173.769456 -15.108455 -2207.768311 53576.992603 1 # 69 -173.774356 -15.112583 -2451.898315 54274.667780 1 # 70 -173.780713 -15.118580 -2744.268921 55227.839301 4 # 71 -173.778108 -15.121111 -2699.298096 55624.145383 3 # 72 -173.771937 -15.115295 -2469.532532 56548.993635 1 # 73 -173.767192 -15.111408 -2274.215393 57216.646838 1 # 74 -173.763130 -15.107732 -2043.699493 57813.805429 1 # 75 -173.757362 -15.102488 -1721.997925 58663.593146 1 # 76 -173.754354 -15.100198 -1606.800049 59074.686643 3 # 77 -173.750540 -15.105713 -1921.805328 59810.365428 3 # 78 -173.735749 -15.095859 -1927.748505 61739.632090 3 # 79 -173.742013 -15.086939 -1647.754669 62935.273294 3 # 80 -173.737237 -15.084378 -1787.878601 63522.129905 1 # 81 -173.731841 -15.082479 -1866.899628 64139.541315 1 # 82 -173.726632 -15.080671 -2011.859314 64734.614191 1 # 83 -173.719469 -15.078954 -2180.102783 65528.324156 1 # 84 -173.711499 -15.078442 -2352.929260 66387.619748 1 # 85 -173.704336 -15.078080 -2626.705444 67159.263874 4 # 86 -173.703964 -15.082419 -2641.574768 67641.345748 3 # 87 -173.711096 -15.083022 -2438.629456 68411.496357 1 # 88 -173.718724 -15.083474 -2190.939087 69233.633913 1 # 89 -173.724802 -15.084770 -2027.552673 69903.060670 1 # 90 -173.730105 -15.086849 -1906.265320 70518.241991 1 # 91 -173.735097 -15.088627 -1785.400024 71090.219463 1 # 92 -173.739284 -15.090977 -1617.710327 71610.401545 3 # 93 -173.751036 -15.088476 -1615.398956 72904.634896 3 # 94 -173.754199 -15.101494 -1695.259430 74385.672634 4 # # A total of 693 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 49500; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2719.268921; abortDepth = 2744.268921; minAltitude = 50.000000; abortAltitude = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2034; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 106.162924 meters # Minimum depth: 1695.259430 meters looking forward 0.000000 meters along route # Maximum depth: 1695.259430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.259430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101494; longitude = -173.754199; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1573.820665; finalDepth = 1645.259430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1645.25943 # Seafloor depth:-1695.259430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1623.820665 meters looking forward 0.000000 meters along route # Maximum depth: 1623.820665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.820665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100259; longitude = -173.753899; captureRadius = 10; duration = 212; initialDepth = 1502.970525; finalDepth = 1573.820665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1573.820665 # Seafloor depth:-1623.820665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1552.970525 meters looking forward 0.000000 meters along route # Maximum depth: 1552.970525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.970525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099354; longitude = -173.753679; captureRadius = 10; duration = 212; initialDepth = 1424.775304; finalDepth = 1502.970525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1502.970525 # Seafloor depth:-1552.970525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1474.775304 meters looking forward 0.000000 meters along route # Maximum depth: 1474.775304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.775304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098450; longitude = -173.753460; captureRadius = 10; duration = 212; initialDepth = 1395.755373; finalDepth = 1424.775304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1424.775304 # Seafloor depth:-1474.775304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1445.755373 meters looking forward 0.000000 meters along route # Maximum depth: 1445.755373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.755373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097546; longitude = -173.753240; captureRadius = 10; duration = 212; initialDepth = 1405.141351; finalDepth = 1395.755373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1395.755373 # Seafloor depth:-1445.755373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1455.141351 meters looking forward 0.000000 meters along route # Maximum depth: 1455.141351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.141351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096642; longitude = -173.753020; captureRadius = 10; duration = 212; initialDepth = 1368.064621; finalDepth = 1405.141351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1405.141351 # Seafloor depth:-1455.141351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1418.064621 meters looking forward 0.000000 meters along route # Maximum depth: 1418.064621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.064621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095738; longitude = -173.752801; captureRadius = 10; duration = 212; initialDepth = 1397.645210; finalDepth = 1368.064621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1368.064621 # Seafloor depth:-1418.064621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1447.645210 meters looking forward 0.000000 meters along route # Maximum depth: 1447.645210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.645210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094834; longitude = -173.752581; captureRadius = 10; duration = 212; initialDepth = 1404.601942; finalDepth = 1397.645210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1397.64521 # Seafloor depth:-1447.645210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1454.601942 meters looking forward 0.000000 meters along route # Maximum depth: 1454.601942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.601942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093930; longitude = -173.752361; captureRadius = 10; duration = 212; initialDepth = 1401.470203; finalDepth = 1404.601942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1404.601942 # Seafloor depth:-1454.601942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1451.470203 meters looking forward 0.000000 meters along route # Maximum depth: 1451.470203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.470203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093026; longitude = -173.752142; captureRadius = 10; duration = 212; initialDepth = 1422.257923; finalDepth = 1401.470203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1401.470203 # Seafloor depth:-1451.470203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1472.257923 meters looking forward 0.000000 meters along route # Maximum depth: 1472.257923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.257923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092122; longitude = -173.751922; captureRadius = 10; duration = 212; initialDepth = 1443.797486; finalDepth = 1422.257923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1422.257923 # Seafloor depth:-1472.257923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1493.797486 meters looking forward 0.000000 meters along route # Maximum depth: 1493.797486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.797486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091218; longitude = -173.751702; captureRadius = 10; duration = 212; initialDepth = 1482.490522; finalDepth = 1443.797486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1443.797486 # Seafloor depth:-1493.797486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1532.490522 meters looking forward 0.000000 meters along route # Maximum depth: 1532.490522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.490522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090314; longitude = -173.751483; captureRadius = 10; duration = 212; initialDepth = 1526.767292; finalDepth = 1482.490522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1482.490522 # Seafloor depth:-1532.490522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.162924 meters # Minimum depth: 1576.767292 meters looking forward 0.000000 meters along route # Maximum depth: 1576.767292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.767292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089371; longitude = -173.751254; captureRadius = 10; duration = 212; initialDepth = 1565.398956; finalDepth = 1526.767292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1526.767292 # Seafloor depth:-1576.767292 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 93 # Segment length 106.162924 meters # Minimum depth: 1615.398956 meters looking forward 0.000000 meters along route # Maximum depth: 1615.398956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.398956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088476; longitude = -173.751036; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1517.006815; finalDepth = 1565.398956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1565.398956 # Seafloor depth:-1615.398956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1567.006815 meters looking forward 0.000000 meters along route # Maximum depth: 1567.006815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.006815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088786; longitude = -173.749579; captureRadius = 10; duration = 212; initialDepth = 1480.239202; finalDepth = 1517.006815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1517.006815 # Seafloor depth:-1567.006815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1530.239202 meters looking forward 0.000000 meters along route # Maximum depth: 1530.239202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.239202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088984; longitude = -173.748649; captureRadius = 10; duration = 212; initialDepth = 1461.931800; finalDepth = 1480.239202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1480.239202 # Seafloor depth:-1530.239202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1511.931800 meters looking forward 0.000000 meters along route # Maximum depth: 1511.931800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.931800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089182; longitude = -173.747718; captureRadius = 10; duration = 212; initialDepth = 1451.101539; finalDepth = 1461.931800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1461.9318 # Seafloor depth:-1511.931800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1501.101539 meters looking forward 0.000000 meters along route # Maximum depth: 1501.101539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.101539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089380; longitude = -173.746788; captureRadius = 10; duration = 212; initialDepth = 1440.504135; finalDepth = 1451.101539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1451.101539 # Seafloor depth:-1501.101539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1490.504135 meters looking forward 0.000000 meters along route # Maximum depth: 1490.504135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.504135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089578; longitude = -173.745858; captureRadius = 10; duration = 212; initialDepth = 1413.784339; finalDepth = 1440.504135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1440.504135 # Seafloor depth:-1490.504135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1463.784339 meters looking forward 0.000000 meters along route # Maximum depth: 1463.784339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.784339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089776; longitude = -173.744928; captureRadius = 10; duration = 212; initialDepth = 1392.238692; finalDepth = 1413.784339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1413.784339 # Seafloor depth:-1463.784339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1442.238692 meters looking forward 0.000000 meters along route # Maximum depth: 1442.238692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.238692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089974; longitude = -173.743997; captureRadius = 10; duration = 212; initialDepth = 1380.196112; finalDepth = 1392.238692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1392.238692 # Seafloor depth:-1442.238692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1430.196112 meters looking forward 0.000000 meters along route # Maximum depth: 1430.196112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.196112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090172; longitude = -173.743067; captureRadius = 10; duration = 212; initialDepth = 1393.796947; finalDepth = 1380.196112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1380.196112 # Seafloor depth:-1430.196112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1443.796947 meters looking forward 0.000000 meters along route # Maximum depth: 1443.796947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.796947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090370; longitude = -173.742137; captureRadius = 10; duration = 212; initialDepth = 1434.218567; finalDepth = 1393.796947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1393.796947 # Seafloor depth:-1443.796947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1484.218567 meters looking forward 0.000000 meters along route # Maximum depth: 1484.218567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1434.218567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090568; longitude = -173.741206; captureRadius = 10; duration = 212; initialDepth = 1486.534756; finalDepth = 1434.218567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1434.218567 # Seafloor depth:-1484.218567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 106.162924 meters # Minimum depth: 1551.620550 meters looking forward 0.000000 meters along route # Maximum depth: 1551.620550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.534756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090766; longitude = -173.740274; captureRadius = 10; duration = 212; initialDepth = 1542.088884; finalDepth = 1486.534756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0857935820848 # Actual altitude: 65.0857935820848 # Commanded vehicle depth:1486.53475641792 # Seafloor depth:-1551.620550 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.05; MB_Bottom_Detect_Filter_Max_Range = 260.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.34; 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 92 # Segment length 106.162924 meters # Minimum depth: 1617.710327 meters looking forward 0.000000 meters along route # Maximum depth: 1617.710327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.088884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090977; longitude = -173.739284; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1597.065929; finalDepth = 1542.088884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6214432972884 # Actual altitude: 75.6214432972884 # Commanded vehicle depth:1542.08888370271 # Seafloor depth:-1617.710327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.37; MB_Bottom_Detect_Filter_Max_Range = 302.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 106.162924 meters # Minimum depth: 1666.654077 meters looking forward 0.000000 meters along route # Maximum depth: 1666.654077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.065929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090490; longitude = -173.738416; captureRadius = 10; duration = 212; initialDepth = 1650.066225; finalDepth = 1597.065929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6214432972884 # Actual altitude: 75.6214432972884 # Commanded vehicle depth:1597.06592909871 # Seafloor depth:-1666.654077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.37; MB_Bottom_Detect_Filter_Max_Range = 302.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 106.162924 meters # Minimum depth: 1705.269564 meters looking forward 0.000000 meters along route # Maximum depth: 1705.269564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.066225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090020; longitude = -173.737578; captureRadius = 10; duration = 212; initialDepth = 1693.764419; finalDepth = 1650.066225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.5881479012908 # Actual altitude: 69.5881479012908 # Commanded vehicle depth:1650.06622520492 # Seafloor depth:-1705.269564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.75; MB_Bottom_Detect_Filter_Max_Range = 278.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 106.162924 meters # Minimum depth: 1743.764419 meters looking forward 0.000000 meters along route # Maximum depth: 1743.764419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.764419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089550; longitude = -173.736741; captureRadius = 10; duration = 212; initialDepth = 1712.138648; finalDepth = 1693.764419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2033387950839 # Actual altitude: 55.2033387950839 # Commanded vehicle depth:1693.764419 # Seafloor depth:-1743.764419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.12; MB_Bottom_Detect_Filter_Max_Range = 220.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 106.162924 meters # Minimum depth: 1762.138648 meters looking forward 0.000000 meters along route # Maximum depth: 1762.138648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.138648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089080; longitude = -173.735904; captureRadius = 10; duration = 212; initialDepth = 1735.400024; finalDepth = 1712.138648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1712.138648 # Seafloor depth:-1762.138648 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 106.162924 meters # Minimum depth: 1785.400024 meters looking forward 0.000000 meters along route # Maximum depth: 1785.400024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.400024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088627; longitude = -173.735097; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1746.535624; finalDepth = 1735.400024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1735.400024 # Seafloor depth:-1785.400024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 106.162924 meters # Minimum depth: 1796.535624 meters looking forward 0.000000 meters along route # Maximum depth: 1796.535624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.535624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088185; longitude = -173.733857; captureRadius = 10; duration = 212; initialDepth = 1766.307470; finalDepth = 1746.535624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.535624 # Seafloor depth:-1796.535624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 106.162924 meters # Minimum depth: 1816.307470 meters looking forward 0.000000 meters along route # Maximum depth: 1816.307470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.307470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087854; longitude = -173.732927; captureRadius = 10; duration = 212; initialDepth = 1798.063640; finalDepth = 1766.307470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1766.30747 # Seafloor depth:-1816.307470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 106.162924 meters # Minimum depth: 1848.063640 meters looking forward 0.000000 meters along route # Maximum depth: 1848.063640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.063640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087512; longitude = -173.731966; captureRadius = 10; duration = 212; initialDepth = 1834.310163; finalDepth = 1798.063640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.06364 # Seafloor depth:-1848.063640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 106.162924 meters # Minimum depth: 1884.310163 meters looking forward 0.000000 meters along route # Maximum depth: 1884.310163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.310163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087191; longitude = -173.731066; captureRadius = 10; duration = 212; initialDepth = 1856.265320; finalDepth = 1834.310163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1834.310163 # Seafloor depth:-1884.310163 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 106.162924 meters # Minimum depth: 1906.265320 meters looking forward 0.000000 meters along route # Maximum depth: 1906.265320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.265320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086849; longitude = -173.730105; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1876.362082; finalDepth = 1856.265320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1856.26532 # Seafloor depth:-1906.265320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 106.162924 meters # Minimum depth: 1926.362082 meters looking forward 0.000000 meters along route # Maximum depth: 1926.362082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.362082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086569; longitude = -173.729392; captureRadius = 10; duration = 212; initialDepth = 1906.155416; finalDepth = 1876.362082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1876.362082 # Seafloor depth:-1926.362082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 106.162924 meters # Minimum depth: 1956.155416 meters looking forward 0.000000 meters along route # Maximum depth: 1956.155416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.155416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086205; longitude = -173.728461; captureRadius = 10; duration = 212; initialDepth = 1915.118082; finalDepth = 1906.155416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1906.155416 # Seafloor depth:-1956.155416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 106.162924 meters # Minimum depth: 1965.118082 meters looking forward 0.000000 meters along route # Maximum depth: 1965.118082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.118082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085840; longitude = -173.727531; captureRadius = 10; duration = 212; initialDepth = 1932.245678; finalDepth = 1915.118082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1915.118082 # Seafloor depth:-1965.118082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 106.162924 meters # Minimum depth: 1982.245678 meters looking forward 0.000000 meters along route # Maximum depth: 1982.245678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.245678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085475; longitude = -173.726601; captureRadius = 10; duration = 212; initialDepth = 1949.494549; finalDepth = 1932.245678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1932.245678 # Seafloor depth:-1982.245678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 106.162924 meters # Minimum depth: 1999.494549 meters looking forward 0.000000 meters along route # Maximum depth: 1999.494549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.494549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085111; longitude = -173.725671; captureRadius = 10; duration = 212; initialDepth = 1977.552673; finalDepth = 1949.494549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1949.494549 # Seafloor depth:-1999.494549 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 106.162924 meters # Minimum depth: 2027.552673 meters looking forward 0.000000 meters along route # Maximum depth: 2027.552673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.552673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084770; longitude = -173.724802; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2016.523426; finalDepth = 1977.552673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1977.552673 # Seafloor depth:-2027.552673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 106.162924 meters # Minimum depth: 2066.523426 meters looking forward 0.000000 meters along route # Maximum depth: 2066.523426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.523426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084479; longitude = -173.723438; captureRadius = 10; duration = 212; initialDepth = 2039.706882; finalDepth = 2016.523426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2016.523426 # Seafloor depth:-2066.523426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 106.162924 meters # Minimum depth: 2089.706882 meters looking forward 0.000000 meters along route # Maximum depth: 2089.706882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.706882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084281; longitude = -173.722508; captureRadius = 10; duration = 212; initialDepth = 2071.552995; finalDepth = 2039.706882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2039.706882 # Seafloor depth:-2089.706882 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 106.162924 meters # Minimum depth: 2121.552995 meters looking forward 0.000000 meters along route # Maximum depth: 2121.552995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.552995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084082; longitude = -173.721577; captureRadius = 10; duration = 212; initialDepth = 2096.473658; finalDepth = 2071.552995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2071.552995 # Seafloor depth:-2121.552995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 106.162924 meters # Minimum depth: 2146.473658 meters looking forward 0.000000 meters along route # Maximum depth: 2146.473658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.473658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083884; longitude = -173.720647; captureRadius = 10; duration = 212; initialDepth = 2117.642364; finalDepth = 2096.473658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2096.473658 # Seafloor depth:-2146.473658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 106.162924 meters # Minimum depth: 2167.642364 meters looking forward 0.000000 meters along route # Maximum depth: 2167.642364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.642364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083686; longitude = -173.719717; captureRadius = 10; duration = 212; initialDepth = 2140.939087; finalDepth = 2117.642364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2117.642364 # Seafloor depth:-2167.642364 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 106.162924 meters # Minimum depth: 2190.939087 meters looking forward 0.000000 meters along route # Maximum depth: 2190.939087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2140.939087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083474; longitude = -173.718724; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2163.127559; finalDepth = 2140.939087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2140.939087 # Seafloor depth:-2190.939087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 106.162924 meters # Minimum depth: 2213.127559 meters looking forward 0.000000 meters along route # Maximum depth: 2213.127559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2163.127559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083412; longitude = -173.717670; captureRadius = 10; duration = 212; initialDepth = 2187.328970; finalDepth = 2163.127559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2163.127559 # Seafloor depth:-2213.127559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 106.162924 meters # Minimum depth: 2237.328970 meters looking forward 0.000000 meters along route # Maximum depth: 2237.328970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2187.328970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083356; longitude = -173.716740; captureRadius = 10; duration = 212; initialDepth = 2229.678694; finalDepth = 2187.328970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2187.32897 # Seafloor depth:-2237.328970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 106.162924 meters # Minimum depth: 2279.678694 meters looking forward 0.000000 meters along route # Maximum depth: 2279.678694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2229.678694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083301; longitude = -173.715809; captureRadius = 10; duration = 212; initialDepth = 2255.261665; finalDepth = 2229.678694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2229.678694 # Seafloor depth:-2279.678694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 106.162924 meters # Minimum depth: 2305.261665 meters looking forward 0.000000 meters along route # Maximum depth: 2305.261665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2255.261665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083246; longitude = -173.714879; captureRadius = 10; duration = 212; initialDepth = 2263.347696; finalDepth = 2255.261665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2255.261665 # Seafloor depth:-2305.261665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 106.162924 meters # Minimum depth: 2313.347696 meters looking forward 0.000000 meters along route # Maximum depth: 2313.347696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2263.347696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083191; longitude = -173.713949; captureRadius = 10; duration = 212; initialDepth = 2284.507723; finalDepth = 2263.347696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2263.347696 # Seafloor depth:-2313.347696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 106.162924 meters # Minimum depth: 2334.507723 meters looking forward 0.000000 meters along route # Maximum depth: 2334.507723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.507723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083136; longitude = -173.713019; captureRadius = 10; duration = 212; initialDepth = 2335.595507; finalDepth = 2284.507723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2284.507723 # Seafloor depth:-2334.507723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 106.162924 meters # Minimum depth: 2391.856366 meters looking forward 0.000000 meters along route # Maximum depth: 2391.856366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2335.595507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083081; longitude = -173.712088; captureRadius = 10; duration = 212; initialDepth = 2388.629456; finalDepth = 2335.595507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2608587828704 # Actual altitude: 56.2608587828704 # Commanded vehicle depth:2335.59550721713 # Seafloor depth:-2391.856366 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 225.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 106.162924 meters # Minimum depth: 2438.629456 meters looking forward 0.000000 meters along route # Maximum depth: 2438.629456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2388.629456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083022; longitude = -173.711096; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2458.772017; finalDepth = 2388.629456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2608587828704 # Actual altitude: 56.2608587828704 # Commanded vehicle depth:2388.629456 # Seafloor depth:-2438.629456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.76; MB_Bottom_Detect_Filter_Max_Range = 225.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 106.162924 meters # Minimum depth: 2508.772017 meters looking forward 0.000000 meters along route # Maximum depth: 2508.772017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2458.772017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082894; longitude = -173.709577; captureRadius = 10; duration = 212; initialDepth = 2483.754067; finalDepth = 2458.772017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2458.772017 # Seafloor depth:-2508.772017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 106.162924 meters # Minimum depth: 2533.754067 meters looking forward 0.000000 meters along route # Maximum depth: 2533.754067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2483.754067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082815; longitude = -173.708646; captureRadius = 10; duration = 212; initialDepth = 2518.930386; finalDepth = 2483.754067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2483.754067 # Seafloor depth:-2533.754067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 106.162924 meters # Minimum depth: 2568.930386 meters looking forward 0.000000 meters along route # Maximum depth: 2568.930386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2518.930386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082736; longitude = -173.707716; captureRadius = 10; duration = 212; initialDepth = 2555.864828; finalDepth = 2518.930386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2518.930386 # Seafloor depth:-2568.930386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 106.162924 meters # Minimum depth: 2605.864828 meters looking forward 0.000000 meters along route # Maximum depth: 2605.864828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2555.864828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082658; longitude = -173.706786; captureRadius = 10; duration = 212; initialDepth = 2558.451043; finalDepth = 2555.864828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2555.864828 # Seafloor depth:-2605.864828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 106.162924 meters # Minimum depth: 2608.451043 meters looking forward 0.000000 meters along route # Maximum depth: 2608.451043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2558.451043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082579; longitude = -173.705855; captureRadius = 10; duration = 212; initialDepth = 2560.570049; finalDepth = 2558.451043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2558.451043 # Seafloor depth:-2608.451043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 106.162924 meters # Minimum depth: 2610.570049 meters looking forward 0.000000 meters along route # Maximum depth: 2610.570049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2560.570049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082500; longitude = -173.704925; captureRadius = 10; duration = 212; initialDepth = 2591.574768; finalDepth = 2560.570049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2560.570049 # Seafloor depth:-2610.570049 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 86 # Segment length 106.162924 meters # Minimum depth: 2641.574768 meters looking forward 0.000000 meters along route # Maximum depth: 2641.574768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2591.574768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082419; longitude = -173.703964; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2588.936924; finalDepth = 2591.574768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2591.574768 # Seafloor depth:-2641.574768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 106.162924 meters # Minimum depth: 2638.936924 meters looking forward 0.000000 meters along route # Maximum depth: 2638.936924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2588.936924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081726; longitude = -173.704023; captureRadius = 10; duration = 212; initialDepth = 2520.318574; finalDepth = 2588.936924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2588.936924 # Seafloor depth:-2638.936924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 106.162924 meters # Minimum depth: 2570.318574 meters looking forward 0.000000 meters along route # Maximum depth: 2570.318574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2520.318574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080822; longitude = -173.704101; captureRadius = 10; duration = 212; initialDepth = 2543.325125; finalDepth = 2520.318574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2520.318574 # Seafloor depth:-2570.318574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 106.162924 meters # Minimum depth: 2593.325125 meters looking forward 0.000000 meters along route # Maximum depth: 2593.325125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2543.325125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079918; longitude = -173.704178; captureRadius = 10; duration = 212; initialDepth = 2564.852837; finalDepth = 2543.325125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2543.325125 # Seafloor depth:-2593.325125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 106.162924 meters # Minimum depth: 2614.852837 meters looking forward 0.000000 meters along route # Maximum depth: 2614.852837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2564.852837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079014; longitude = -173.704256; captureRadius = 10; duration = 212; initialDepth = 2576.705444; finalDepth = 2564.852837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2564.852837 # Seafloor depth:-2614.852837 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 106.162924 meters # Minimum depth: 2626.705444 meters looking forward 0.000000 meters along route # Maximum depth: 2626.705444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2576.705444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078080; longitude = -173.704336; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2529.683200; finalDepth = 2576.705444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2576.705444 # Seafloor depth:-2626.705444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 106.162924 meters # Minimum depth: 2579.683200 meters looking forward 0.000000 meters along route # Maximum depth: 2579.683200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2529.683200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078157; longitude = -173.705855; captureRadius = 10; duration = 212; initialDepth = 2483.781106; finalDepth = 2529.683200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2529.6832 # Seafloor depth:-2579.683200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 106.162924 meters # Minimum depth: 2533.781106 meters looking forward 0.000000 meters along route # Maximum depth: 2533.781106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2483.781106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078204; longitude = -173.706786; captureRadius = 10; duration = 212; initialDepth = 2479.317295; finalDepth = 2483.781106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2483.781106 # Seafloor depth:-2533.781106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 106.162924 meters # Minimum depth: 2529.317295 meters looking forward 0.000000 meters along route # Maximum depth: 2529.317295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2479.317295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078251; longitude = -173.707716; captureRadius = 10; duration = 212; initialDepth = 2430.035495; finalDepth = 2479.317295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2479.317295 # Seafloor depth:-2529.317295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 106.162924 meters # Minimum depth: 2480.035495 meters looking forward 0.000000 meters along route # Maximum depth: 2480.035495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2430.035495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078298; longitude = -173.708646; captureRadius = 10; duration = 212; initialDepth = 2402.802521; finalDepth = 2430.035495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2430.035495 # Seafloor depth:-2480.035495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 106.162924 meters # Minimum depth: 2452.802521 meters looking forward 0.000000 meters along route # Maximum depth: 2452.802521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2402.802521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078345; longitude = -173.709577; captureRadius = 10; duration = 212; initialDepth = 2347.474005; finalDepth = 2402.802521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2402.802521 # Seafloor depth:-2452.802521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 106.162924 meters # Minimum depth: 2397.474005 meters looking forward 0.000000 meters along route # Maximum depth: 2397.474005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2347.474005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078392; longitude = -173.710507; captureRadius = 10; duration = 212; initialDepth = 2302.929260; finalDepth = 2347.474005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2347.474005 # Seafloor depth:-2397.474005 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 106.162924 meters # Minimum depth: 2352.929260 meters looking forward 0.000000 meters along route # Maximum depth: 2352.929260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2302.929260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078442; longitude = -173.711499; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2283.742976; finalDepth = 2302.929260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2302.92926 # Seafloor depth:-2352.929260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 106.162924 meters # Minimum depth: 2333.742976 meters looking forward 0.000000 meters along route # Maximum depth: 2333.742976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2283.742976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078534; longitude = -173.712926; captureRadius = 10; duration = 212; initialDepth = 2268.147199; finalDepth = 2283.742976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2283.742976 # Seafloor depth:-2333.742976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 106.162924 meters # Minimum depth: 2318.147199 meters looking forward 0.000000 meters along route # Maximum depth: 2318.147199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2268.147199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078593; longitude = -173.713856; captureRadius = 10; duration = 212; initialDepth = 2247.285544; finalDepth = 2268.147199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2268.147199 # Seafloor depth:-2318.147199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 106.162924 meters # Minimum depth: 2297.285544 meters looking forward 0.000000 meters along route # Maximum depth: 2297.285544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2247.285544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078653; longitude = -173.714786; captureRadius = 10; duration = 212; initialDepth = 2211.142040; finalDepth = 2247.285544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2247.285544 # Seafloor depth:-2297.285544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 106.162924 meters # Minimum depth: 2261.142040 meters looking forward 0.000000 meters along route # Maximum depth: 2261.142040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2211.142040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078713; longitude = -173.715716; captureRadius = 10; duration = 212; initialDepth = 2197.893432; finalDepth = 2211.142040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2211.14204 # Seafloor depth:-2261.142040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 106.162924 meters # Minimum depth: 2247.893432 meters looking forward 0.000000 meters along route # Maximum depth: 2247.893432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2197.893432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078773; longitude = -173.716647; captureRadius = 10; duration = 212; initialDepth = 2183.830670; finalDepth = 2197.893432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2197.893432 # Seafloor depth:-2247.893432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 106.162924 meters # Minimum depth: 2233.830670 meters looking forward 0.000000 meters along route # Maximum depth: 2233.830670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2183.830670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078832; longitude = -173.717577; captureRadius = 10; duration = 212; initialDepth = 2160.901854; finalDepth = 2183.830670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2183.83067 # Seafloor depth:-2233.830670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 106.162924 meters # Minimum depth: 2210.901854 meters looking forward 0.000000 meters along route # Maximum depth: 2210.901854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2160.901854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078892; longitude = -173.718507; captureRadius = 10; duration = 212; initialDepth = 2130.102783; finalDepth = 2160.901854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2160.901854 # Seafloor depth:-2210.901854 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 106.162924 meters # Minimum depth: 2180.102783 meters looking forward 0.000000 meters along route # Maximum depth: 2180.102783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.102783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078954; longitude = -173.719469; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2082.246928; finalDepth = 2130.102783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2130.102783 # Seafloor depth:-2180.102783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 106.162924 meters # Minimum depth: 2132.246928 meters looking forward 0.000000 meters along route # Maximum depth: 2132.246928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.246928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079326; longitude = -173.721019; captureRadius = 10; duration = 212; initialDepth = 2060.259139; finalDepth = 2082.246928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2082.246928 # Seafloor depth:-2132.246928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 106.162924 meters # Minimum depth: 2110.259139 meters looking forward 0.000000 meters along route # Maximum depth: 2110.259139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2060.259139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079549; longitude = -173.721949; captureRadius = 10; duration = 212; initialDepth = 2020.178084; finalDepth = 2060.259139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2060.259139 # Seafloor depth:-2110.259139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 106.162924 meters # Minimum depth: 2070.178084 meters looking forward 0.000000 meters along route # Maximum depth: 2070.178084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.178084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079772; longitude = -173.722880; captureRadius = 10; duration = 212; initialDepth = 1997.682370; finalDepth = 2020.178084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2020.178084 # Seafloor depth:-2070.178084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 106.162924 meters # Minimum depth: 2047.682370 meters looking forward 0.000000 meters along route # Maximum depth: 2047.682370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.682370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079995; longitude = -173.723810; captureRadius = 10; duration = 212; initialDepth = 1986.894141; finalDepth = 1997.682370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1997.68237 # Seafloor depth:-2047.682370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 106.162924 meters # Minimum depth: 2036.894141 meters looking forward 0.000000 meters along route # Maximum depth: 2036.894141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1986.894141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080218; longitude = -173.724740; captureRadius = 10; duration = 212; initialDepth = 1969.398838; finalDepth = 1986.894141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1986.894141 # Seafloor depth:-2036.894141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 106.162924 meters # Minimum depth: 2019.398838 meters looking forward 0.000000 meters along route # Maximum depth: 2019.398838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1969.398838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080441; longitude = -173.725671; captureRadius = 10; duration = 212; initialDepth = 1961.859314; finalDepth = 1969.398838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1969.398838 # Seafloor depth:-2019.398838 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 106.162924 meters # Minimum depth: 2011.859314 meters looking forward 0.000000 meters along route # Maximum depth: 2011.859314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1961.859314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080671; longitude = -173.726632; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1924.313693; finalDepth = 1961.859314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1961.859314 # Seafloor depth:-2011.859314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 106.162924 meters # Minimum depth: 1974.313693 meters looking forward 0.000000 meters along route # Maximum depth: 1974.313693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.313693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081184; longitude = -173.728109; captureRadius = 10; duration = 212; initialDepth = 1908.667813; finalDepth = 1924.313693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1924.313693 # Seafloor depth:-1974.313693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 106.162924 meters # Minimum depth: 1958.667813 meters looking forward 0.000000 meters along route # Maximum depth: 1958.667813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.667813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081500; longitude = -173.729020; captureRadius = 10; duration = 212; initialDepth = 1904.198192; finalDepth = 1908.667813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1908.667813 # Seafloor depth:-1958.667813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 106.162924 meters # Minimum depth: 1954.198192 meters looking forward 0.000000 meters along route # Maximum depth: 1954.198192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.198192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081823; longitude = -173.729950; captureRadius = 10; duration = 212; initialDepth = 1869.881005; finalDepth = 1904.198192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1904.198192 # Seafloor depth:-1954.198192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 106.162924 meters # Minimum depth: 1919.881005 meters looking forward 0.000000 meters along route # Maximum depth: 1919.881005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.881005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082146; longitude = -173.730880; captureRadius = 10; duration = 212; initialDepth = 1816.899628; finalDepth = 1869.881005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1869.881005 # Seafloor depth:-1919.881005 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 106.162924 meters # Minimum depth: 1866.899628 meters looking forward 0.000000 meters along route # Maximum depth: 1866.899628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.899628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082479; longitude = -173.731841; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1808.887466; finalDepth = 1816.899628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1816.899628 # Seafloor depth:-1866.899628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 106.162924 meters # Minimum depth: 1858.887466 meters looking forward 0.000000 meters along route # Maximum depth: 1858.887466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.887466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082730; longitude = -173.732555; captureRadius = 10; duration = 212; initialDepth = 1779.061807; finalDepth = 1808.887466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1808.887466 # Seafloor depth:-1858.887466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 106.162924 meters # Minimum depth: 1829.061807 meters looking forward 0.000000 meters along route # Maximum depth: 1829.061807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.061807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083058; longitude = -173.733485; captureRadius = 10; duration = 212; initialDepth = 1773.424506; finalDepth = 1779.061807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.061807 # Seafloor depth:-1829.061807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 106.162924 meters # Minimum depth: 1823.424506 meters looking forward 0.000000 meters along route # Maximum depth: 1823.424506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.424506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083385; longitude = -173.734415; captureRadius = 10; duration = 212; initialDepth = 1768.522053; finalDepth = 1773.424506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1773.424506 # Seafloor depth:-1823.424506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 106.162924 meters # Minimum depth: 1818.522053 meters looking forward 0.000000 meters along route # Maximum depth: 1818.522053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.522053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083715; longitude = -173.735353; captureRadius = 10; duration = 212; initialDepth = 1745.258015; finalDepth = 1768.522053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1768.522053 # Seafloor depth:-1818.522053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 106.162924 meters # Minimum depth: 1795.258015 meters looking forward 0.000000 meters along route # Maximum depth: 1795.258015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.258015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084040; longitude = -173.736276; captureRadius = 10; duration = 212; initialDepth = 1737.878601; finalDepth = 1745.258015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1745.258015 # Seafloor depth:-1795.258015 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 106.162924 meters # Minimum depth: 1787.878601 meters looking forward 0.000000 meters along route # Maximum depth: 1787.878601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.878601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084378; longitude = -173.737237; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1700.139139; finalDepth = 1737.878601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1737.878601 # Seafloor depth:-1787.878601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 106.162924 meters # Minimum depth: 1750.139139 meters looking forward 0.000000 meters along route # Maximum depth: 1750.139139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.139139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085110; longitude = -173.738602; captureRadius = 10; duration = 212; initialDepth = 1692.098942; finalDepth = 1700.139139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1700.139139 # Seafloor depth:-1750.139139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 106.162924 meters # Minimum depth: 1742.098942 meters looking forward 0.000000 meters along route # Maximum depth: 1742.098942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.098942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085559; longitude = -173.739439; captureRadius = 10; duration = 212; initialDepth = 1640.594757; finalDepth = 1692.098942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1692.098942 # Seafloor depth:-1742.098942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 106.162924 meters # Minimum depth: 1690.594757 meters looking forward 0.000000 meters along route # Maximum depth: 1690.594757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.594757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086008; longitude = -173.740276; captureRadius = 10; duration = 212; initialDepth = 1615.841670; finalDepth = 1640.594757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1640.594757 # Seafloor depth:-1690.594757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 106.162924 meters # Minimum depth: 1665.841670 meters looking forward 0.000000 meters along route # Maximum depth: 1665.841670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.841670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086457; longitude = -173.741113; captureRadius = 10; duration = 212; initialDepth = 1597.754669; finalDepth = 1615.841670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1615.84167 # Seafloor depth:-1665.841670 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 106.162924 meters # Minimum depth: 1647.754669 meters looking forward 0.000000 meters along route # Maximum depth: 1647.754669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.754669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086939; longitude = -173.742013; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1497.062329; finalDepth = 1597.754669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1597.754669 # Seafloor depth:-1647.754669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1547.062329 meters looking forward 0.000000 meters along route # Maximum depth: 1547.062329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.062329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087964; longitude = -173.741293; captureRadius = 10; duration = 212; initialDepth = 1462.573297; finalDepth = 1497.062329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1497.062329 # Seafloor depth:-1547.062329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1512.573297 meters looking forward 0.000000 meters along route # Maximum depth: 1512.573297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.573297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088777; longitude = -173.740722; captureRadius = 10; duration = 212; initialDepth = 1475.787718; finalDepth = 1462.573297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1462.573297 # Seafloor depth:-1512.573297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1525.787718 meters looking forward 0.000000 meters along route # Maximum depth: 1525.787718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.787718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089591; longitude = -173.740151; captureRadius = 10; duration = 212; initialDepth = 1525.678886; finalDepth = 1475.787718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1475.787718 # Seafloor depth:-1525.787718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1575.678886 meters looking forward 0.000000 meters along route # Maximum depth: 1575.678886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.678886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090340; longitude = -173.739625; captureRadius = 10; duration = 212; initialDepth = 1579.964496; finalDepth = 1525.678886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1525.678886 # Seafloor depth:-1575.678886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1632.820363 meters looking forward 0.000000 meters along route # Maximum depth: 1632.820363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.964496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091135; longitude = -173.739067; captureRadius = 10; duration = 212; initialDepth = 1635.079368; finalDepth = 1579.964496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8558673062112 # Actual altitude: 52.8558673062112 # Commanded vehicle depth:1579.96449569379 # Seafloor depth:-1632.820363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.71; MB_Bottom_Detect_Filter_Max_Range = 211.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1700.182187 meters looking forward 0.000000 meters along route # Maximum depth: 1700.182187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.079368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091942; longitude = -173.738500; captureRadius = 10; duration = 212; initialDepth = 1690.646911; finalDepth = 1635.079368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.1028187693394 # Actual altitude: 65.1028187693394 # Commanded vehicle depth:1635.07936823066 # Seafloor depth:-1700.182187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.06; MB_Bottom_Detect_Filter_Max_Range = 260.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1763.575463 meters looking forward 0.000000 meters along route # Maximum depth: 1763.575463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.646911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092755; longitude = -173.737929; captureRadius = 10; duration = 212; initialDepth = 1742.820810; finalDepth = 1690.646911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9285516797204 # Actual altitude: 72.9285516797204 # Commanded vehicle depth:1690.64691132028 # Seafloor depth:-1763.575463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.76; MB_Bottom_Detect_Filter_Max_Range = 291.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1817.707142 meters looking forward 0.000000 meters along route # Maximum depth: 1817.707142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.820810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093519; longitude = -173.737392; captureRadius = 10; duration = 212; initialDepth = 1797.106077; finalDepth = 1742.820810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8863318455305 # Actual altitude: 74.8863318455305 # Commanded vehicle depth:1742.82081015447 # Seafloor depth:-1817.707142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.93; MB_Bottom_Detect_Filter_Max_Range = 299.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1858.044979 meters looking forward 0.000000 meters along route # Maximum depth: 1858.044979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.106077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094314; longitude = -173.736834; captureRadius = 10; duration = 212; initialDepth = 1847.415737; finalDepth = 1797.106077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8863318455305 # Actual altitude: 74.8863318455305 # Commanded vehicle depth:1797.10607693764 # Seafloor depth:-1858.044979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.93; MB_Bottom_Detect_Filter_Max_Range = 299.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 106.162924 meters # Minimum depth: 1897.415737 meters looking forward 0.000000 meters along route # Maximum depth: 1897.415737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.415737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095109; longitude = -173.736276; captureRadius = 10; duration = 212; initialDepth = 1877.748505; finalDepth = 1847.415737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.9389020623598 # Actual altitude: 60.9389020623598 # Commanded vehicle depth:1847.415737 # Seafloor depth:-1897.415737 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 243.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.76; 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 78 # Segment length 106.162924 meters # Minimum depth: 1927.748505 meters looking forward 0.000000 meters along route # Maximum depth: 1927.748505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.748505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095859; longitude = -173.735749; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1833.830467; finalDepth = 1877.748505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1877.748505 # Seafloor depth:-1927.748505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1883.830467 meters looking forward 0.000000 meters along route # Maximum depth: 1883.830467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.830467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096462; longitude = -173.736654; captureRadius = 10; duration = 212; initialDepth = 1802.468416; finalDepth = 1833.830467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1833.830467 # Seafloor depth:-1883.830467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1852.468416 meters looking forward 0.000000 meters along route # Maximum depth: 1852.468416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.468416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097016; longitude = -173.737485; captureRadius = 10; duration = 212; initialDepth = 1771.579712; finalDepth = 1802.468416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1802.468416 # Seafloor depth:-1852.468416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1821.579712 meters looking forward 0.000000 meters along route # Maximum depth: 1821.579712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.579712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097573; longitude = -173.738322; captureRadius = 10; duration = 212; initialDepth = 1737.935076; finalDepth = 1771.579712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.579712 # Seafloor depth:-1821.579712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1787.935076 meters looking forward 0.000000 meters along route # Maximum depth: 1787.935076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.935076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098089; longitude = -173.739096; captureRadius = 10; duration = 212; initialDepth = 1701.533386; finalDepth = 1737.935076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1737.935076 # Seafloor depth:-1787.935076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1751.533386 meters looking forward 0.000000 meters along route # Maximum depth: 1751.533386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.533386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098631; longitude = -173.739910; captureRadius = 10; duration = 212; initialDepth = 1666.568454; finalDepth = 1701.533386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1701.533386 # Seafloor depth:-1751.533386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1716.568454 meters looking forward 0.000000 meters along route # Maximum depth: 1716.568454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.568454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099185; longitude = -173.740741; captureRadius = 10; duration = 212; initialDepth = 1655.502834; finalDepth = 1666.568454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.568454 # Seafloor depth:-1716.568454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1705.502834 meters looking forward 0.000000 meters along route # Maximum depth: 1705.502834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.502834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099743; longitude = -173.741578; captureRadius = 10; duration = 212; initialDepth = 1662.740440; finalDepth = 1655.502834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1655.502834 # Seafloor depth:-1705.502834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1712.740440 meters looking forward 0.000000 meters along route # Maximum depth: 1712.740440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.740440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100259; longitude = -173.742353; captureRadius = 10; duration = 212; initialDepth = 1651.825756; finalDepth = 1662.740440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1662.74044 # Seafloor depth:-1712.740440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1701.825756 meters looking forward 0.000000 meters along route # Maximum depth: 1701.825756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.825756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100801; longitude = -173.743167; captureRadius = 10; duration = 212; initialDepth = 1648.291969; finalDepth = 1651.825756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1651.825756 # Seafloor depth:-1701.825756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1698.291969 meters looking forward 0.000000 meters along route # Maximum depth: 1698.291969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.291969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101354; longitude = -173.743997; captureRadius = 10; duration = 212; initialDepth = 1648.170970; finalDepth = 1648.291969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1648.291969 # Seafloor depth:-1698.291969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1698.170970 meters looking forward 0.000000 meters along route # Maximum depth: 1698.170970 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.170970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101912; longitude = -173.744835; captureRadius = 10; duration = 212; initialDepth = 1643.771625; finalDepth = 1648.170970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1648.17097 # Seafloor depth:-1698.170970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1693.771625 meters looking forward 0.000000 meters along route # Maximum depth: 1693.771625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.771625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102428; longitude = -173.745609; captureRadius = 10; duration = 212; initialDepth = 1627.457107; finalDepth = 1643.771625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1643.771625 # Seafloor depth:-1693.771625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1677.457107 meters looking forward 0.000000 meters along route # Maximum depth: 1677.457107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.457107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102971; longitude = -173.746424; captureRadius = 10; duration = 212; initialDepth = 1670.172407; finalDepth = 1627.457107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1627.457107 # Seafloor depth:-1677.457107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1720.172407 meters looking forward 0.000000 meters along route # Maximum depth: 1720.172407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.172407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103523; longitude = -173.747253; captureRadius = 10; duration = 212; initialDepth = 1714.510675; finalDepth = 1670.172407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1670.172407 # Seafloor depth:-1720.172407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1764.510675 meters looking forward 0.000000 meters along route # Maximum depth: 1764.510675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.510675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104081; longitude = -173.748091; captureRadius = 10; duration = 212; initialDepth = 1750.360510; finalDepth = 1714.510675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1714.510675 # Seafloor depth:-1764.510675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1800.360510 meters looking forward 0.000000 meters along route # Maximum depth: 1800.360510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.360510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104639; longitude = -173.748928; captureRadius = 10; duration = 212; initialDepth = 1805.589210; finalDepth = 1750.360510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1750.36051 # Seafloor depth:-1800.360510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 106.162924 meters # Minimum depth: 1855.589210 meters looking forward 0.000000 meters along route # Maximum depth: 1855.589210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.589210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105197; longitude = -173.749765; captureRadius = 10; duration = 212; initialDepth = 1857.092739; finalDepth = 1805.589210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1805.58921 # Seafloor depth:-1855.589210 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 106.162924 meters # Minimum depth: 1921.805328 meters looking forward 0.000000 meters along route # Maximum depth: 1921.805328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.092739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105713; longitude = -173.750540; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1834.480546; finalDepth = 1857.092739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.7125890482507 # Actual altitude: 64.7125890482507 # Commanded vehicle depth:1857.09273895175 # Seafloor depth:-1921.805328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 258.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 106.162924 meters # Minimum depth: 1884.480546 meters looking forward 0.000000 meters along route # Maximum depth: 1884.480546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.480546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105050; longitude = -173.750999; captureRadius = 10; duration = 212; initialDepth = 1788.247712; finalDepth = 1834.480546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.7125890482507 # Actual altitude: 64.7125890482507 # Commanded vehicle depth:1834.480546 # Seafloor depth:-1884.480546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.83; MB_Bottom_Detect_Filter_Max_Range = 258.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 106.162924 meters # Minimum depth: 1838.247712 meters looking forward 0.000000 meters along route # Maximum depth: 1838.247712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.247712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104236; longitude = -173.751561; captureRadius = 10; duration = 212; initialDepth = 1747.376573; finalDepth = 1788.247712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1788.247712 # Seafloor depth:-1838.247712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 106.162924 meters # Minimum depth: 1797.376573 meters looking forward 0.000000 meters along route # Maximum depth: 1797.376573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.376573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103423; longitude = -173.752124; captureRadius = 10; duration = 212; initialDepth = 1715.206717; finalDepth = 1747.376573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.376573 # Seafloor depth:-1797.376573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 106.162924 meters # Minimum depth: 1765.206717 meters looking forward 0.000000 meters along route # Maximum depth: 1765.206717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.206717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102609; longitude = -173.752687; captureRadius = 10; duration = 212; initialDepth = 1682.843477; finalDepth = 1715.206717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1715.206717 # Seafloor depth:-1765.206717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 106.162924 meters # Minimum depth: 1732.843477 meters looking forward 0.000000 meters along route # Maximum depth: 1732.843477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.843477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101795; longitude = -173.753249; captureRadius = 10; duration = 212; initialDepth = 1623.545662; finalDepth = 1682.843477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1682.843477 # Seafloor depth:-1732.843477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 106.162924 meters # Minimum depth: 1673.545662 meters looking forward 0.000000 meters along route # Maximum depth: 1673.545662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.545662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100982; longitude = -173.753812; captureRadius = 10; duration = 212; initialDepth = 1556.800049; finalDepth = 1623.545662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1623.545662 # Seafloor depth:-1673.545662 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 76 # Segment length 106.162924 meters # Minimum depth: 1606.800049 meters looking forward 0.000000 meters along route # Maximum depth: 1606.800049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.800049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100198; longitude = -173.754354; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1599.868492; finalDepth = 1556.800049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1556.800049 # Seafloor depth:-1606.800049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 106.162924 meters # Minimum depth: 1649.868492 meters looking forward 0.000000 meters along route # Maximum depth: 1649.868492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.868492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100741; longitude = -173.755068; captureRadius = 10; duration = 212; initialDepth = 1626.816604; finalDepth = 1599.868492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1599.868492 # Seafloor depth:-1649.868492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 106.162924 meters # Minimum depth: 1676.816604 meters looking forward 0.000000 meters along route # Maximum depth: 1676.816604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.816604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101308; longitude = -173.755812; captureRadius = 10; duration = 212; initialDepth = 1650.106159; finalDepth = 1626.816604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1626.816604 # Seafloor depth:-1676.816604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 106.162924 meters # Minimum depth: 1700.106159 meters looking forward 0.000000 meters along route # Maximum depth: 1700.106159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.106159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101886; longitude = -173.756571; captureRadius = 10; duration = 212; initialDepth = 1671.997925; finalDepth = 1650.106159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1650.106159 # Seafloor depth:-1700.106159 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 106.162924 meters # Minimum depth: 1721.997925 meters looking forward 0.000000 meters along route # Maximum depth: 1721.997925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.997925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102488; longitude = -173.757362; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1734.235542; finalDepth = 1671.997925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1671.997925 # Seafloor depth:-1721.997925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 106.162924 meters # Minimum depth: 1806.063319 meters looking forward 0.000000 meters along route # Maximum depth: 1806.063319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.235542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103242; longitude = -173.758191; captureRadius = 10; duration = 212; initialDepth = 1786.486032; finalDepth = 1734.235542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8277771982875 # Actual altitude: 71.8277771982875 # Commanded vehicle depth:1734.23554180171 # Seafloor depth:-1806.063319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.10; MB_Bottom_Detect_Filter_Max_Range = 287.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 106.162924 meters # Minimum depth: 1852.638604 meters looking forward 0.000000 meters along route # Maximum depth: 1852.638604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.486032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103875; longitude = -173.758887; captureRadius = 10; duration = 212; initialDepth = 1829.746377; finalDepth = 1786.486032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8277771982875 # Actual altitude: 71.8277771982875 # Commanded vehicle depth:1786.48603199043 # Seafloor depth:-1852.638604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.10; MB_Bottom_Detect_Filter_Max_Range = 287.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 106.162924 meters # Minimum depth: 1879.746377 meters looking forward 0.000000 meters along route # Maximum depth: 1879.746377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.746377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104507; longitude = -173.759583; captureRadius = 10; duration = 212; initialDepth = 1856.103295; finalDepth = 1829.746377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1525720095731 # Actual altitude: 66.1525720095731 # Commanded vehicle depth:1829.746377 # Seafloor depth:-1879.746377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.69; MB_Bottom_Detect_Filter_Max_Range = 264.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 106.162924 meters # Minimum depth: 1906.103295 meters looking forward 0.000000 meters along route # Maximum depth: 1906.103295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.103295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105140; longitude = -173.760279; captureRadius = 10; duration = 212; initialDepth = 1898.754497; finalDepth = 1856.103295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1856.103295 # Seafloor depth:-1906.103295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 106.162924 meters # Minimum depth: 1948.754497 meters looking forward 0.000000 meters along route # Maximum depth: 1948.754497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.754497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105773; longitude = -173.760975; captureRadius = 10; duration = 212; initialDepth = 1922.029090; finalDepth = 1898.754497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1898.754497 # Seafloor depth:-1948.754497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 106.162924 meters # Minimum depth: 1972.029090 meters looking forward 0.000000 meters along route # Maximum depth: 1972.029090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1922.029090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106407; longitude = -173.761673; captureRadius = 10; duration = 212; initialDepth = 1967.749504; finalDepth = 1922.029090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1922.02909 # Seafloor depth:-1972.029090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 106.162924 meters # Minimum depth: 2017.749504 meters looking forward 0.000000 meters along route # Maximum depth: 2017.749504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1967.749504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107084; longitude = -173.762417; captureRadius = 10; duration = 212; initialDepth = 1993.699493; finalDepth = 1967.749504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1967.749504 # Seafloor depth:-2017.749504 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 106.162924 meters # Minimum depth: 2043.699493 meters looking forward 0.000000 meters along route # Maximum depth: 2043.699493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.699493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107732; longitude = -173.763130; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2006.159534; finalDepth = 1993.699493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1993.699493 # Seafloor depth:-2043.699493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 106.162924 meters # Minimum depth: 2056.159534 meters looking forward 0.000000 meters along route # Maximum depth: 2056.159534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.159534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108214; longitude = -173.763662; captureRadius = 10; duration = 212; initialDepth = 2038.706991; finalDepth = 2006.159534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2006.159534 # Seafloor depth:-2056.159534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 106.162924 meters # Minimum depth: 2088.706991 meters looking forward 0.000000 meters along route # Maximum depth: 2088.706991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.706991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108855; longitude = -173.764371; captureRadius = 10; duration = 212; initialDepth = 2086.667763; finalDepth = 2038.706991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2038.706991 # Seafloor depth:-2088.706991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 106.162924 meters # Minimum depth: 2136.667763 meters looking forward 0.000000 meters along route # Maximum depth: 2136.667763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.667763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109479; longitude = -173.765061; captureRadius = 10; duration = 212; initialDepth = 2139.477281; finalDepth = 2086.667763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2086.667763 # Seafloor depth:-2136.667763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 106.162924 meters # Minimum depth: 2196.664717 meters looking forward 0.000000 meters along route # Maximum depth: 2196.664717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2139.477281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110118; longitude = -173.765766; captureRadius = 10; duration = 212; initialDepth = 2187.043321; finalDepth = 2139.477281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1874364469081 # Actual altitude: 57.1874364469081 # Commanded vehicle depth:2139.47728055309 # Seafloor depth:-2196.664717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 228.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 106.162924 meters # Minimum depth: 2237.043321 meters looking forward 0.000000 meters along route # Maximum depth: 2237.043321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2187.043321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110791; longitude = -173.766510; captureRadius = 10; duration = 212; initialDepth = 2224.215393; finalDepth = 2187.043321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1874364469081 # Actual altitude: 57.1874364469081 # Commanded vehicle depth:2187.043321 # Seafloor depth:-2237.043321 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.31; MB_Bottom_Detect_Filter_Max_Range = 228.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 106.162924 meters # Minimum depth: 2274.215393 meters looking forward 0.000000 meters along route # Maximum depth: 2274.215393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2224.215393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111408; longitude = -173.767192; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2272.691059; finalDepth = 2224.215393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2224.215393 # Seafloor depth:-2274.215393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 106.162924 meters # Minimum depth: 2322.691059 meters looking forward 0.000000 meters along route # Maximum depth: 2322.691059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.691059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112221; longitude = -173.768185; captureRadius = 10; duration = 212; initialDepth = 2307.728946; finalDepth = 2272.691059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2272.691059 # Seafloor depth:-2322.691059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 106.162924 meters # Minimum depth: 2357.728946 meters looking forward 0.000000 meters along route # Maximum depth: 2357.728946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2307.728946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112831; longitude = -173.768929; captureRadius = 10; duration = 212; initialDepth = 2352.706786; finalDepth = 2307.728946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2307.728946 # Seafloor depth:-2357.728946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 106.162924 meters # Minimum depth: 2402.706786 meters looking forward 0.000000 meters along route # Maximum depth: 2402.706786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.706786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113457; longitude = -173.769694; captureRadius = 10; duration = 212; initialDepth = 2376.968250; finalDepth = 2352.706786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2352.706786 # Seafloor depth:-2402.706786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 106.162924 meters # Minimum depth: 2426.968250 meters looking forward 0.000000 meters along route # Maximum depth: 2426.968250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2376.968250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114050; longitude = -173.770417; captureRadius = 10; duration = 212; initialDepth = 2389.189189; finalDepth = 2376.968250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2376.96825 # Seafloor depth:-2426.968250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 106.162924 meters # Minimum depth: 2439.189189 meters looking forward 0.000000 meters along route # Maximum depth: 2439.189189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2389.189189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114660; longitude = -173.771162; captureRadius = 10; duration = 212; initialDepth = 2419.532532; finalDepth = 2389.189189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2389.189189 # Seafloor depth:-2439.189189 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 106.162924 meters # Minimum depth: 2469.532532 meters looking forward 0.000000 meters along route # Maximum depth: 2469.532532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2419.532532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115295; longitude = -173.771937; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2436.837750; finalDepth = 2419.532532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2419.532532 # Seafloor depth:-2469.532532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2486.837750 meters looking forward 0.000000 meters along route # Maximum depth: 2486.837750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2436.837750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115988; longitude = -173.772673; captureRadius = 10; duration = 212; initialDepth = 2460.279917; finalDepth = 2436.837750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2436.83775 # Seafloor depth:-2486.837750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2510.279917 meters looking forward 0.000000 meters along route # Maximum depth: 2510.279917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2460.279917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116621; longitude = -173.773344; captureRadius = 10; duration = 212; initialDepth = 2482.567304; finalDepth = 2460.279917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2460.279917 # Seafloor depth:-2510.279917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2532.567304 meters looking forward 0.000000 meters along route # Maximum depth: 2532.567304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2482.567304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117254; longitude = -173.774016; captureRadius = 10; duration = 212; initialDepth = 2532.635386; finalDepth = 2482.567304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2482.567304 # Seafloor depth:-2532.567304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2582.635386 meters looking forward 0.000000 meters along route # Maximum depth: 2582.635386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2532.635386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117887; longitude = -173.774687; captureRadius = 10; duration = 212; initialDepth = 2556.799791; finalDepth = 2532.635386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2532.635386 # Seafloor depth:-2582.635386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2606.799791 meters looking forward 0.000000 meters along route # Maximum depth: 2606.799791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2556.799791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118520; longitude = -173.775359; captureRadius = 10; duration = 212; initialDepth = 2571.251158; finalDepth = 2556.799791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2556.799791 # Seafloor depth:-2606.799791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2621.251158 meters looking forward 0.000000 meters along route # Maximum depth: 2621.251158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2571.251158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119153; longitude = -173.776030; captureRadius = 10; duration = 212; initialDepth = 2605.499407; finalDepth = 2571.251158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2571.251158 # Seafloor depth:-2621.251158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2655.499407 meters looking forward 0.000000 meters along route # Maximum depth: 2655.499407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2605.499407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119785; longitude = -173.776701; captureRadius = 10; duration = 212; initialDepth = 2645.380742; finalDepth = 2605.499407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2605.499407 # Seafloor depth:-2655.499407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 106.162924 meters # Minimum depth: 2695.380742 meters looking forward 0.000000 meters along route # Maximum depth: 2695.380742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2645.380742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120439; longitude = -173.777395; captureRadius = 10; duration = 212; initialDepth = 2649.298096; finalDepth = 2645.380742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2645.380742 # Seafloor depth:-2695.380742 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 71 # Segment length 106.162924 meters # Minimum depth: 2699.298096 meters looking forward 0.000000 meters along route # Maximum depth: 2699.298096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2649.298096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121111; longitude = -173.778108; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2627.614618; finalDepth = 2649.298096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2649.298096 # Seafloor depth:-2699.298096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 106.162924 meters # Minimum depth: 2677.614618 meters looking forward 0.000000 meters along route # Maximum depth: 2677.614618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2627.614618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120599; longitude = -173.778635; captureRadius = 10; duration = 212; initialDepth = 2673.716601; finalDepth = 2627.614618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2627.614618 # Seafloor depth:-2677.614618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 106.162924 meters # Minimum depth: 2723.716601 meters looking forward 0.000000 meters along route # Maximum depth: 2723.716601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2673.716601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119906; longitude = -173.779348; captureRadius = 10; duration = 212; initialDepth = 2689.710397; finalDepth = 2673.716601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2673.716601 # Seafloor depth:-2723.716601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 106.162924 meters # Minimum depth: 2739.710397 meters looking forward 0.000000 meters along route # Maximum depth: 2739.710397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2689.710397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119243; longitude = -173.780031; captureRadius = 10; duration = 212; initialDepth = 2694.268921; finalDepth = 2689.710397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2689.710397 # Seafloor depth:-2739.710397 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 106.162924 meters # Minimum depth: 2744.268921 meters looking forward 0.000000 meters along route # Maximum depth: 2744.268921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2694.268921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118580; longitude = -173.780713; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2660.437565; finalDepth = 2694.268921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2694.268921 # Seafloor depth:-2744.268921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2710.437565 meters looking forward 0.000000 meters along route # Maximum depth: 2710.437565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2660.437565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117706; longitude = -173.779787; captureRadius = 10; duration = 212; initialDepth = 2633.426306; finalDepth = 2660.437565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2660.437565 # Seafloor depth:-2710.437565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2683.426306 meters looking forward 0.000000 meters along route # Maximum depth: 2683.426306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2633.426306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117073; longitude = -173.779116; captureRadius = 10; duration = 212; initialDepth = 2595.397816; finalDepth = 2633.426306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2633.426306 # Seafloor depth:-2683.426306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2645.397816 meters looking forward 0.000000 meters along route # Maximum depth: 2645.397816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2595.397816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116440; longitude = -173.778445; captureRadius = 10; duration = 212; initialDepth = 2557.567332; finalDepth = 2595.397816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2595.397816 # Seafloor depth:-2645.397816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2607.567332 meters looking forward 0.000000 meters along route # Maximum depth: 2607.567332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2557.567332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115808; longitude = -173.777774; captureRadius = 10; duration = 212; initialDepth = 2552.791588; finalDepth = 2557.567332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2557.567332 # Seafloor depth:-2607.567332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2602.791588 meters looking forward 0.000000 meters along route # Maximum depth: 2602.791588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2552.791588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115175; longitude = -173.777103; captureRadius = 10; duration = 212; initialDepth = 2504.028020; finalDepth = 2552.791588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2552.791588 # Seafloor depth:-2602.791588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2554.028020 meters looking forward 0.000000 meters along route # Maximum depth: 2554.028020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2504.028020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114542; longitude = -173.776433; captureRadius = 10; duration = 212; initialDepth = 2457.404108; finalDepth = 2504.028020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2504.02802 # Seafloor depth:-2554.028020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2507.404108 meters looking forward 0.000000 meters along route # Maximum depth: 2507.404108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2457.404108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113909; longitude = -173.775762; captureRadius = 10; duration = 212; initialDepth = 2386.985050; finalDepth = 2457.404108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2457.404108 # Seafloor depth:-2507.404108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 106.162924 meters # Minimum depth: 2436.985050 meters looking forward 0.000000 meters along route # Maximum depth: 2436.985050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2386.985050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113256; longitude = -173.775069; captureRadius = 10; duration = 212; initialDepth = 2401.898315; finalDepth = 2386.985050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2386.98505 # Seafloor depth:-2436.985050 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 106.162924 meters # Minimum depth: 2451.898315 meters looking forward 0.000000 meters along route # Maximum depth: 2451.898315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2401.898315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112583; longitude = -173.774356; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2351.212141; finalDepth = 2401.898315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2401.898315 # Seafloor depth:-2451.898315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 106.162924 meters # Minimum depth: 2401.212141 meters looking forward 0.000000 meters along route # Maximum depth: 2401.212141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2351.212141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111616; longitude = -173.773208; captureRadius = 10; duration = 212; initialDepth = 2308.145807; finalDepth = 2351.212141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2351.212141 # Seafloor depth:-2401.212141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 106.162924 meters # Minimum depth: 2358.145807 meters looking forward 0.000000 meters along route # Maximum depth: 2358.145807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.145807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110989; longitude = -173.772464; captureRadius = 10; duration = 212; initialDepth = 2273.866027; finalDepth = 2308.145807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2308.145807 # Seafloor depth:-2358.145807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 106.162924 meters # Minimum depth: 2323.866027 meters looking forward 0.000000 meters along route # Maximum depth: 2323.866027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.866027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110362; longitude = -173.771720; captureRadius = 10; duration = 212; initialDepth = 2221.680035; finalDepth = 2273.866027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2273.866027 # Seafloor depth:-2323.866027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 106.162924 meters # Minimum depth: 2271.680035 meters looking forward 0.000000 meters along route # Maximum depth: 2271.680035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2221.680035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109735; longitude = -173.770976; captureRadius = 10; duration = 212; initialDepth = 2201.851910; finalDepth = 2221.680035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2221.680035 # Seafloor depth:-2271.680035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 106.162924 meters # Minimum depth: 2251.851910 meters looking forward 0.000000 meters along route # Maximum depth: 2251.851910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2201.851910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109108; longitude = -173.770231; captureRadius = 10; duration = 212; initialDepth = 2157.768311; finalDepth = 2201.851910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2201.85191 # Seafloor depth:-2251.851910 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 106.162924 meters # Minimum depth: 2207.768311 meters looking forward 0.000000 meters along route # Maximum depth: 2207.768311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.768311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108455; longitude = -173.769456; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2126.627937; finalDepth = 2157.768311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2157.768311 # Seafloor depth:-2207.768311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 106.162924 meters # Minimum depth: 2176.627937 meters looking forward 0.000000 meters along route # Maximum depth: 2176.627937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2126.627937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107581; longitude = -173.768486; captureRadius = 10; duration = 212; initialDepth = 2105.740286; finalDepth = 2126.627937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2126.627937 # Seafloor depth:-2176.627937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 106.162924 meters # Minimum depth: 2155.740286 meters looking forward 0.000000 meters along route # Maximum depth: 2155.740286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.740286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106948; longitude = -173.767784; captureRadius = 10; duration = 212; initialDepth = 2069.277408; finalDepth = 2105.740286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2105.740286 # Seafloor depth:-2155.740286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 106.162924 meters # Minimum depth: 2119.277408 meters looking forward 0.000000 meters along route # Maximum depth: 2119.277408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2069.277408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106303; longitude = -173.767068; captureRadius = 10; duration = 212; initialDepth = 2040.883128; finalDepth = 2069.277408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2069.277408 # Seafloor depth:-2119.277408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 106.162924 meters # Minimum depth: 2090.883128 meters looking forward 0.000000 meters along route # Maximum depth: 2090.883128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.883128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105633; longitude = -173.766324; captureRadius = 10; duration = 212; initialDepth = 2000.936096; finalDepth = 2040.883128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2040.883128 # Seafloor depth:-2090.883128 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 106.162924 meters # Minimum depth: 2050.936096 meters looking forward 0.000000 meters along route # Maximum depth: 2050.936096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2000.936096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104990; longitude = -173.765611; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1956.438531; finalDepth = 2000.936096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2000.936096 # Seafloor depth:-2050.936096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 106.162924 meters # Minimum depth: 2006.438531 meters looking forward 0.000000 meters along route # Maximum depth: 2006.438531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1956.438531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104309; longitude = -173.764836; captureRadius = 10; duration = 212; initialDepth = 1907.063778; finalDepth = 1956.438531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1956.438531 # Seafloor depth:-2006.438531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 106.162924 meters # Minimum depth: 1957.063778 meters looking forward 0.000000 meters along route # Maximum depth: 1957.063778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.063778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103694; longitude = -173.764136; captureRadius = 10; duration = 212; initialDepth = 1859.470541; finalDepth = 1907.063778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1907.063778 # Seafloor depth:-1957.063778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 106.162924 meters # Minimum depth: 1909.470541 meters looking forward 0.000000 meters along route # Maximum depth: 1909.470541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.470541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103061; longitude = -173.763416; captureRadius = 10; duration = 212; initialDepth = 1844.477924; finalDepth = 1859.470541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1859.470541 # Seafloor depth:-1909.470541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 106.162924 meters # Minimum depth: 1894.477924 meters looking forward 0.000000 meters along route # Maximum depth: 1894.477924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.477924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102428; longitude = -173.762696; captureRadius = 10; duration = 212; initialDepth = 1814.174459; finalDepth = 1844.477924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1844.477924 # Seafloor depth:-1894.477924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 106.162924 meters # Minimum depth: 1864.174459 meters looking forward 0.000000 meters along route # Maximum depth: 1864.174459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.174459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101775; longitude = -173.761952; captureRadius = 10; duration = 212; initialDepth = 1792.204005; finalDepth = 1814.174459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1814.174459 # Seafloor depth:-1864.174459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 106.162924 meters # Minimum depth: 1842.204005 meters looking forward 0.000000 meters along route # Maximum depth: 1842.204005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.204005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101163; longitude = -173.761255; captureRadius = 10; duration = 212; initialDepth = 1762.408856; finalDepth = 1792.204005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1792.204005 # Seafloor depth:-1842.204005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 106.162924 meters # Minimum depth: 1812.408856 meters looking forward 0.000000 meters along route # Maximum depth: 1812.408856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.408856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100530; longitude = -173.760535; captureRadius = 10; duration = 212; initialDepth = 1732.536774; finalDepth = 1762.408856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.408856 # Seafloor depth:-1812.408856 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 106.162924 meters # Minimum depth: 1782.536774 meters looking forward 0.000000 meters along route # Maximum depth: 1782.536774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.536774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099867; longitude = -173.759781; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1702.526638; finalDepth = 1732.536774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1732.536774 # Seafloor depth:-1782.536774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 106.162924 meters # Minimum depth: 1752.526638 meters looking forward 0.000000 meters along route # Maximum depth: 1752.526638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.526638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099404; longitude = -173.759161; captureRadius = 10; duration = 212; initialDepth = 1666.070273; finalDepth = 1702.526638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1702.526638 # Seafloor depth:-1752.526638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 106.162924 meters # Minimum depth: 1716.070273 meters looking forward 0.000000 meters along route # Maximum depth: 1716.070273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.070273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098847; longitude = -173.758417; captureRadius = 10; duration = 212; initialDepth = 1653.007810; finalDepth = 1666.070273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.070273 # Seafloor depth:-1716.070273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 106.162924 meters # Minimum depth: 1703.007810 meters looking forward 0.000000 meters along route # Maximum depth: 1703.007810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.007810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098291; longitude = -173.757672; captureRadius = 10; duration = 212; initialDepth = 1645.944226; finalDepth = 1653.007810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1653.00781 # Seafloor depth:-1703.007810 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 106.162924 meters # Minimum depth: 1695.944226 meters looking forward 0.000000 meters along route # Maximum depth: 1695.944226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.944226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097727; longitude = -173.756919; captureRadius = 10; duration = 212; initialDepth = 1601.528687; finalDepth = 1645.944226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1645.944226 # Seafloor depth:-1695.944226 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 65 # Segment length 106.162924 meters # Minimum depth: 1651.528687 meters looking forward 0.000000 meters along route # Maximum depth: 1651.528687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.528687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097155; longitude = -173.756153; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1663.501737; finalDepth = 1601.528687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1601.528687 # Seafloor depth:-1651.528687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 106.162924 meters # Minimum depth: 1713.501737 meters looking forward 0.000000 meters along route # Maximum depth: 1713.501737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.501737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096169; longitude = -173.756742; captureRadius = 10; duration = 212; initialDepth = 1694.622564; finalDepth = 1663.501737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1663.501737 # Seafloor depth:-1713.501737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 106.162924 meters # Minimum depth: 1744.622564 meters looking forward 0.000000 meters along route # Maximum depth: 1744.622564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.622564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095377; longitude = -173.757215; captureRadius = 10; duration = 212; initialDepth = 1710.240401; finalDepth = 1694.622564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1694.622564 # Seafloor depth:-1744.622564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 106.162924 meters # Minimum depth: 1760.240401 meters looking forward 0.000000 meters along route # Maximum depth: 1760.240401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.240401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094563; longitude = -173.757701; captureRadius = 10; duration = 212; initialDepth = 1746.043915; finalDepth = 1710.240401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1710.240401 # Seafloor depth:-1760.240401 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 106.162924 meters # Minimum depth: 1796.043915 meters looking forward 0.000000 meters along route # Maximum depth: 1796.043915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.043915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093780; longitude = -173.758169; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1721.707281; finalDepth = 1746.043915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.043915 # Seafloor depth:-1796.043915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1771.707281 meters looking forward 0.000000 meters along route # Maximum depth: 1771.707281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.707281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093379; longitude = -173.757579; captureRadius = 10; duration = 212; initialDepth = 1677.939028; finalDepth = 1721.707281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1721.707281 # Seafloor depth:-1771.707281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1727.939028 meters looking forward 0.000000 meters along route # Maximum depth: 1727.939028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.939028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092846; longitude = -173.756797; captureRadius = 10; duration = 212; initialDepth = 1638.344353; finalDepth = 1677.939028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1677.939028 # Seafloor depth:-1727.939028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1688.344353 meters looking forward 0.000000 meters along route # Maximum depth: 1688.344353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.344353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092302; longitude = -173.755998; captureRadius = 10; duration = 212; initialDepth = 1602.782516; finalDepth = 1638.344353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1638.344353 # Seafloor depth:-1688.344353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1652.782516 meters looking forward 0.000000 meters along route # Maximum depth: 1652.782516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.782516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091761; longitude = -173.755203; captureRadius = 10; duration = 212; initialDepth = 1580.527349; finalDepth = 1602.782516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1602.782516 # Seafloor depth:-1652.782516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1630.527349 meters looking forward 0.000000 meters along route # Maximum depth: 1630.527349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.527349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091218; longitude = -173.754407; captureRadius = 10; duration = 212; initialDepth = 1560.532510; finalDepth = 1580.527349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1580.527349 # Seafloor depth:-1630.527349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1610.532510 meters looking forward 0.000000 meters along route # Maximum depth: 1610.532510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.532510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090655; longitude = -173.753579; captureRadius = 10; duration = 212; initialDepth = 1537.122123; finalDepth = 1560.532510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1560.53251 # Seafloor depth:-1610.532510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1587.122123 meters looking forward 0.000000 meters along route # Maximum depth: 1587.122123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.122123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090133; longitude = -173.752814; captureRadius = 10; duration = 212; initialDepth = 1540.219530; finalDepth = 1537.122123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1537.122123 # Seafloor depth:-1587.122123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1590.219530 meters looking forward 0.000000 meters along route # Maximum depth: 1590.219530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.219530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089578; longitude = -173.751998; captureRadius = 10; duration = 212; initialDepth = 1544.003716; finalDepth = 1540.219530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1540.21953 # Seafloor depth:-1590.219530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1594.003716 meters looking forward 0.000000 meters along route # Maximum depth: 1594.003716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.003716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089049; longitude = -173.751220; captureRadius = 10; duration = 212; initialDepth = 1553.318533; finalDepth = 1544.003716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1544.003716 # Seafloor depth:-1594.003716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1603.318533 meters looking forward 0.000000 meters along route # Maximum depth: 1603.318533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.318533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088501; longitude = -173.750416; captureRadius = 10; duration = 212; initialDepth = 1561.386231; finalDepth = 1553.318533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1553.318533 # Seafloor depth:-1603.318533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1611.386231 meters looking forward 0.000000 meters along route # Maximum depth: 1611.386231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.386231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087964; longitude = -173.749627; captureRadius = 10; duration = 212; initialDepth = 1575.828029; finalDepth = 1561.386231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1561.386231 # Seafloor depth:-1611.386231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1625.828029 meters looking forward 0.000000 meters along route # Maximum depth: 1625.828029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.828029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087421; longitude = -173.748831; captureRadius = 10; duration = 212; initialDepth = 1607.657399; finalDepth = 1575.828029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1575.828029 # Seafloor depth:-1625.828029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1657.657399 meters looking forward 0.000000 meters along route # Maximum depth: 1657.657399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.657399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086879; longitude = -173.748034; captureRadius = 10; duration = 212; initialDepth = 1640.683656; finalDepth = 1607.657399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1607.657399 # Seafloor depth:-1657.657399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1690.683656 meters looking forward 0.000000 meters along route # Maximum depth: 1690.683656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.683656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086337; longitude = -173.747237; captureRadius = 10; duration = 212; initialDepth = 1681.243598; finalDepth = 1640.683656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1640.683656 # Seafloor depth:-1690.683656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1731.243598 meters looking forward 0.000000 meters along route # Maximum depth: 1731.243598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.243598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085777; longitude = -173.746416; captureRadius = 10; duration = 212; initialDepth = 1713.594670; finalDepth = 1681.243598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1681.243598 # Seafloor depth:-1731.243598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 106.162924 meters # Minimum depth: 1763.594670 meters looking forward 0.000000 meters along route # Maximum depth: 1763.594670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.594670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085207; longitude = -173.745579; captureRadius = 10; duration = 212; initialDepth = 1755.459808; finalDepth = 1713.594670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1713.59467 # Seafloor depth:-1763.594670 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 63 # Segment length 106.162924 meters # Minimum depth: 1805.459808 meters looking forward 0.000000 meters along route # Maximum depth: 1805.459808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.459808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084679; longitude = -173.744803; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1703.632314; finalDepth = 1755.459808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1755.459808 # Seafloor depth:-1805.459808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 106.162924 meters # Minimum depth: 1753.632314 meters looking forward 0.000000 meters along route # Maximum depth: 1753.632314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.632314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085642; longitude = -173.744090; captureRadius = 10; duration = 212; initialDepth = 1651.212111; finalDepth = 1703.632314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1703.632314 # Seafloor depth:-1753.632314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 106.162924 meters # Minimum depth: 1701.212111 meters looking forward 0.000000 meters along route # Maximum depth: 1701.212111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.212111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086397; longitude = -173.743532; captureRadius = 10; duration = 212; initialDepth = 1595.527806; finalDepth = 1651.212111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1651.212111 # Seafloor depth:-1701.212111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 106.162924 meters # Minimum depth: 1645.527806 meters looking forward 0.000000 meters along route # Maximum depth: 1645.527806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.527806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087152; longitude = -173.742974; captureRadius = 10; duration = 212; initialDepth = 1539.714545; finalDepth = 1595.527806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1595.527806 # Seafloor depth:-1645.527806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 106.162924 meters # Minimum depth: 1589.714545 meters looking forward 0.000000 meters along route # Maximum depth: 1589.714545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.714545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087906; longitude = -173.742416; captureRadius = 10; duration = 212; initialDepth = 1463.316707; finalDepth = 1539.714545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1539.714545 # Seafloor depth:-1589.714545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 106.162924 meters # Minimum depth: 1513.316707 meters looking forward 0.000000 meters along route # Maximum depth: 1513.316707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.316707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088687; longitude = -173.741838; captureRadius = 10; duration = 212; initialDepth = 1435.000590; finalDepth = 1463.316707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1463.316707 # Seafloor depth:-1513.316707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 106.162924 meters # Minimum depth: 1485.000590 meters looking forward 0.000000 meters along route # Maximum depth: 1485.000590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.000590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089501; longitude = -173.741236; captureRadius = 10; duration = 212; initialDepth = 1465.911835; finalDepth = 1435.000590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1435.00059 # Seafloor depth:-1485.000590 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 62 # Segment length 106.162924 meters # Minimum depth: 1515.911835 meters looking forward 0.000000 meters along route # Maximum depth: 1515.911835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.911835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090254; longitude = -173.740679; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1495.930939; finalDepth = 1465.911835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1465.911835 # Seafloor depth:-1515.911835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 106.162924 meters # Minimum depth: 1545.930939 meters looking forward 0.000000 meters along route # Maximum depth: 1545.930939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.930939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089838; longitude = -173.739904; captureRadius = 10; duration = 212; initialDepth = 1548.373507; finalDepth = 1495.930939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1495.930939 # Seafloor depth:-1545.930939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 106.162924 meters # Minimum depth: 1602.275413 meters looking forward 0.000000 meters along route # Maximum depth: 1602.275413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.373507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089388; longitude = -173.739067; captureRadius = 10; duration = 212; initialDepth = 1594.283574; finalDepth = 1548.373507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9019064778347 # Actual altitude: 53.9019064778347 # Commanded vehicle depth:1548.37350652217 # Seafloor depth:-1602.275413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 215.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 106.162924 meters # Minimum depth: 1644.283574 meters looking forward 0.000000 meters along route # Maximum depth: 1644.283574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.283574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088938; longitude = -173.738229; captureRadius = 10; duration = 212; initialDepth = 1621.898445; finalDepth = 1594.283574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9019064778347 # Actual altitude: 53.9019064778347 # Commanded vehicle depth:1594.283574 # Seafloor depth:-1644.283574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.34; MB_Bottom_Detect_Filter_Max_Range = 215.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 106.162924 meters # Minimum depth: 1671.898445 meters looking forward 0.000000 meters along route # Maximum depth: 1671.898445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.898445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088488; longitude = -173.737392; captureRadius = 10; duration = 212; initialDepth = 1627.994232; finalDepth = 1621.898445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1621.898445 # Seafloor depth:-1671.898445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 106.162924 meters # Minimum depth: 1677.994232 meters looking forward 0.000000 meters along route # Maximum depth: 1677.994232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.994232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088038; longitude = -173.736555; captureRadius = 10; duration = 212; initialDepth = 1604.241150; finalDepth = 1627.994232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1627.994232 # Seafloor depth:-1677.994232 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 106.162924 meters # Minimum depth: 1654.241150 meters looking forward 0.000000 meters along route # Maximum depth: 1654.241150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.241150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087572; longitude = -173.735687; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1665.903197; finalDepth = 1604.241150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1604.24115 # Seafloor depth:-1654.241150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 106.162924 meters # Minimum depth: 1715.903197 meters looking forward 0.000000 meters along route # Maximum depth: 1715.903197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.903197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087090; longitude = -173.734322; captureRadius = 10; duration = 212; initialDepth = 1683.046953; finalDepth = 1665.903197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1665.903197 # Seafloor depth:-1715.903197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 106.162924 meters # Minimum depth: 1733.046953 meters looking forward 0.000000 meters along route # Maximum depth: 1733.046953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.046953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086761; longitude = -173.733392; captureRadius = 10; duration = 212; initialDepth = 1717.082099; finalDepth = 1683.046953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1683.046953 # Seafloor depth:-1733.046953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 106.162924 meters # Minimum depth: 1767.082099 meters looking forward 0.000000 meters along route # Maximum depth: 1767.082099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.082099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086427; longitude = -173.732446; captureRadius = 10; duration = 212; initialDepth = 1746.329581; finalDepth = 1717.082099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1717.082099 # Seafloor depth:-1767.082099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 106.162924 meters # Minimum depth: 1796.329581 meters looking forward 0.000000 meters along route # Maximum depth: 1796.329581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.329581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086104; longitude = -173.731531; captureRadius = 10; duration = 212; initialDepth = 1760.988770; finalDepth = 1746.329581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.329581 # Seafloor depth:-1796.329581 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 106.162924 meters # Minimum depth: 1810.988770 meters looking forward 0.000000 meters along route # Maximum depth: 1810.988770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.988770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085764; longitude = -173.730570; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1798.273356; finalDepth = 1760.988770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1760.98877 # Seafloor depth:-1810.988770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 106.162924 meters # Minimum depth: 1848.273356 meters looking forward 0.000000 meters along route # Maximum depth: 1848.273356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.273356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085489; longitude = -173.729857; captureRadius = 10; duration = 212; initialDepth = 1823.760849; finalDepth = 1798.273356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.273356 # Seafloor depth:-1848.273356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 106.162924 meters # Minimum depth: 1873.760849 meters looking forward 0.000000 meters along route # Maximum depth: 1873.760849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.760849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085131; longitude = -173.728927; captureRadius = 10; duration = 212; initialDepth = 1831.838500; finalDepth = 1823.760849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1823.760849 # Seafloor depth:-1873.760849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 106.162924 meters # Minimum depth: 1881.838500 meters looking forward 0.000000 meters along route # Maximum depth: 1881.838500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.838500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084773; longitude = -173.727996; captureRadius = 10; duration = 212; initialDepth = 1843.164117; finalDepth = 1831.838500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1831.8385 # Seafloor depth:-1881.838500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 106.162924 meters # Minimum depth: 1893.164117 meters looking forward 0.000000 meters along route # Maximum depth: 1893.164117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.164117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084438; longitude = -173.727128; captureRadius = 10; duration = 212; initialDepth = 1857.490571; finalDepth = 1843.164117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1843.164117 # Seafloor depth:-1893.164117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 106.162924 meters # Minimum depth: 1907.490571 meters looking forward 0.000000 meters along route # Maximum depth: 1907.490571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.490571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084092; longitude = -173.726229; captureRadius = 10; duration = 212; initialDepth = 1887.087921; finalDepth = 1857.490571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1857.490571 # Seafloor depth:-1907.490571 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 106.162924 meters # Minimum depth: 1937.087921 meters looking forward 0.000000 meters along route # Maximum depth: 1937.087921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.087921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083745; longitude = -173.725329; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1892.954694; finalDepth = 1887.087921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1887.087921 # Seafloor depth:-1937.087921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 106.162924 meters # Minimum depth: 1942.954694 meters looking forward 0.000000 meters along route # Maximum depth: 1942.954694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.954694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083589; longitude = -173.724647; captureRadius = 10; duration = 212; initialDepth = 1927.746947; finalDepth = 1892.954694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1892.954694 # Seafloor depth:-1942.954694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 106.162924 meters # Minimum depth: 1977.746947 meters looking forward 0.000000 meters along route # Maximum depth: 1977.746947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1927.746947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083377; longitude = -173.723717; captureRadius = 10; duration = 212; initialDepth = 1968.781272; finalDepth = 1927.746947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1927.746947 # Seafloor depth:-1977.746947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 106.162924 meters # Minimum depth: 2018.781272 meters looking forward 0.000000 meters along route # Maximum depth: 2018.781272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1968.781272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083164; longitude = -173.722787; captureRadius = 10; duration = 212; initialDepth = 1984.470331; finalDepth = 1968.781272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1968.781272 # Seafloor depth:-2018.781272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 106.162924 meters # Minimum depth: 2034.470331 meters looking forward 0.000000 meters along route # Maximum depth: 2034.470331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1984.470331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082951; longitude = -173.721856; captureRadius = 10; duration = 212; initialDepth = 2011.681852; finalDepth = 1984.470331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1984.470331 # Seafloor depth:-2034.470331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 106.162924 meters # Minimum depth: 2061.681852 meters looking forward 0.000000 meters along route # Maximum depth: 2061.681852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.681852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082739; longitude = -173.720926; captureRadius = 10; duration = 212; initialDepth = 2021.855066; finalDepth = 2011.681852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2011.681852 # Seafloor depth:-2061.681852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 106.162924 meters # Minimum depth: 2071.855066 meters looking forward 0.000000 meters along route # Maximum depth: 2071.855066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.855066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082526; longitude = -173.719996; captureRadius = 10; duration = 212; initialDepth = 2055.946899; finalDepth = 2021.855066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2021.855066 # Seafloor depth:-2071.855066 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 106.162924 meters # Minimum depth: 2105.946899 meters looking forward 0.000000 meters along route # Maximum depth: 2105.946899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.946899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082299; longitude = -173.719003; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2084.556091; finalDepth = 2055.946899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2055.946899 # Seafloor depth:-2105.946899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.162924 meters # Minimum depth: 2134.556091 meters looking forward 0.000000 meters along route # Maximum depth: 2134.556091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2084.556091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082232; longitude = -173.717856; captureRadius = 10; duration = 212; initialDepth = 2128.128750; finalDepth = 2084.556091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2084.556091 # Seafloor depth:-2134.556091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.162924 meters # Minimum depth: 2178.128750 meters looking forward 0.000000 meters along route # Maximum depth: 2178.128750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2128.128750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082177; longitude = -173.716926; captureRadius = 10; duration = 212; initialDepth = 2135.591600; finalDepth = 2128.128750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2128.12875 # Seafloor depth:-2178.128750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.162924 meters # Minimum depth: 2185.591600 meters looking forward 0.000000 meters along route # Maximum depth: 2185.591600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2135.591600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082123; longitude = -173.715996; captureRadius = 10; duration = 212; initialDepth = 2164.774383; finalDepth = 2135.591600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2135.5916 # Seafloor depth:-2185.591600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.162924 meters # Minimum depth: 2214.774383 meters looking forward 0.000000 meters along route # Maximum depth: 2214.774383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.774383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082068; longitude = -173.715065; captureRadius = 10; duration = 212; initialDepth = 2182.305812; finalDepth = 2164.774383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2164.774383 # Seafloor depth:-2214.774383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.162924 meters # Minimum depth: 2232.305812 meters looking forward 0.000000 meters along route # Maximum depth: 2232.305812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2182.305812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082014; longitude = -173.714135; captureRadius = 10; duration = 212; initialDepth = 2207.653969; finalDepth = 2182.305812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2182.305812 # Seafloor depth:-2232.305812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.162924 meters # Minimum depth: 2257.653969 meters looking forward 0.000000 meters along route # Maximum depth: 2257.653969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2207.653969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081960; longitude = -173.713205; captureRadius = 10; duration = 212; initialDepth = 2258.739774; finalDepth = 2207.653969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2207.653969 # Seafloor depth:-2257.653969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 106.162924 meters # Minimum depth: 2322.118221 meters looking forward 0.000000 meters along route # Maximum depth: 2322.118221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2258.739774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081905; longitude = -173.712274; captureRadius = 10; duration = 212; initialDepth = 2313.235755; finalDepth = 2258.739774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3784467796836 # Actual altitude: 63.3784467796836 # Commanded vehicle depth:2258.73977422032 # Seafloor depth:-2322.118221 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.03; MB_Bottom_Detect_Filter_Max_Range = 253.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 106.162924 meters # Minimum depth: 2363.340088 meters looking forward 0.000000 meters along route # Maximum depth: 2363.340088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2313.235755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081847; longitude = -173.711282; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2355.951860; finalDepth = 2313.235755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3784467796836 # Actual altitude: 63.3784467796836 # Commanded vehicle depth:2313.23575524894 # Seafloor depth:-2363.340088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.03; MB_Bottom_Detect_Filter_Max_Range = 253.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 106.162924 meters # Minimum depth: 2405.951860 meters looking forward 0.000000 meters along route # Maximum depth: 2405.951860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2355.951860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081728; longitude = -173.709763; captureRadius = 10; duration = 212; initialDepth = 2371.496109; finalDepth = 2355.951860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1043327510629 # Actual altitude: 50.1043327510629 # Commanded vehicle depth:2355.95186 # Seafloor depth:-2405.951860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.06; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 106.162924 meters # Minimum depth: 2421.496109 meters looking forward 0.000000 meters along route # Maximum depth: 2421.496109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2371.496109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081655; longitude = -173.708832; captureRadius = 10; duration = 212; initialDepth = 2422.654299; finalDepth = 2371.496109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2371.496109 # Seafloor depth:-2421.496109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 106.162924 meters # Minimum depth: 2485.669286 meters looking forward 0.000000 meters along route # Maximum depth: 2485.669286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2422.654299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081583; longitude = -173.707902; captureRadius = 10; duration = 212; initialDepth = 2473.812470; finalDepth = 2422.654299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.0149870671867 # Actual altitude: 63.0149870671867 # Commanded vehicle depth:2422.65429893281 # Seafloor depth:-2485.669286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 252.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 106.162924 meters # Minimum depth: 2534.671176 meters looking forward 0.000000 meters along route # Maximum depth: 2534.671176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2473.812470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081510; longitude = -173.706972; captureRadius = 10; duration = 212; initialDepth = 2524.970621; finalDepth = 2473.812470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.0149870671867 # Actual altitude: 63.0149870671867 # Commanded vehicle depth:2473.81246950366 # Seafloor depth:-2534.671176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.81; MB_Bottom_Detect_Filter_Max_Range = 252.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 106.162924 meters # Minimum depth: 2576.930886 meters looking forward 0.000000 meters along route # Maximum depth: 2576.930886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2524.970621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081437; longitude = -173.706041; captureRadius = 10; duration = 212; initialDepth = 2537.193371; finalDepth = 2524.970621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8587064963431 # Actual altitude: 60.8587064963431 # Commanded vehicle depth:2524.97062071253 # Seafloor depth:-2576.930886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.52; MB_Bottom_Detect_Filter_Max_Range = 243.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 106.162924 meters # Minimum depth: 2587.193371 meters looking forward 0.000000 meters along route # Maximum depth: 2587.193371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2537.193371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081364; longitude = -173.705111; captureRadius = 10; duration = 212; initialDepth = 2553.986261; finalDepth = 2537.193371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9602652874692 # Actual altitude: 51.9602652874692 # Commanded vehicle depth:2537.193371 # Seafloor depth:-2587.193371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 207.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 106.162924 meters # Minimum depth: 2603.986261 meters looking forward 0.000000 meters along route # Maximum depth: 2603.986261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2553.986261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081292; longitude = -173.704181; captureRadius = 10; duration = 212; initialDepth = 2577.423401; finalDepth = 2553.986261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2553.986261 # Seafloor depth:-2603.986261 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 56 # Segment length 106.162924 meters # Minimum depth: 2627.423401 meters looking forward 0.000000 meters along route # Maximum depth: 2627.423401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2577.423401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081214; longitude = -173.703189; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2545.556606; finalDepth = 2577.423401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2577.423401 # Seafloor depth:-2627.423401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 106.162924 meters # Minimum depth: 2595.556606 meters looking forward 0.000000 meters along route # Maximum depth: 2595.556606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2545.556606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080008; longitude = -173.703292; captureRadius = 10; duration = 212; initialDepth = 2546.444153; finalDepth = 2545.556606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2545.556606 # Seafloor depth:-2595.556606 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 106.162924 meters # Minimum depth: 2596.444153 meters looking forward 0.000000 meters along route # Maximum depth: 2596.444153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2546.444153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079044; longitude = -173.703375; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2541.864934; finalDepth = 2546.444153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2546.444153 # Seafloor depth:-2596.444153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.162924 meters # Minimum depth: 2591.864934 meters looking forward 0.000000 meters along route # Maximum depth: 2591.864934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2541.864934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079131; longitude = -173.704832; captureRadius = 10; duration = 212; initialDepth = 2508.740115; finalDepth = 2541.864934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2541.864934 # Seafloor depth:-2591.864934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.162924 meters # Minimum depth: 2558.740115 meters looking forward 0.000000 meters along route # Maximum depth: 2558.740115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2508.740115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079187; longitude = -173.705762; captureRadius = 10; duration = 212; initialDepth = 2489.669451; finalDepth = 2508.740115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2508.740115 # Seafloor depth:-2558.740115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.162924 meters # Minimum depth: 2539.669451 meters looking forward 0.000000 meters along route # Maximum depth: 2539.669451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2489.669451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079243; longitude = -173.706693; captureRadius = 10; duration = 212; initialDepth = 2459.119051; finalDepth = 2489.669451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2489.669451 # Seafloor depth:-2539.669451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.162924 meters # Minimum depth: 2509.119051 meters looking forward 0.000000 meters along route # Maximum depth: 2509.119051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2459.119051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079299; longitude = -173.707623; captureRadius = 10; duration = 212; initialDepth = 2424.242553; finalDepth = 2459.119051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2459.119051 # Seafloor depth:-2509.119051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.162924 meters # Minimum depth: 2474.242553 meters looking forward 0.000000 meters along route # Maximum depth: 2474.242553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2424.242553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079355; longitude = -173.708553; captureRadius = 10; duration = 212; initialDepth = 2393.619665; finalDepth = 2424.242553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2424.242553 # Seafloor depth:-2474.242553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.162924 meters # Minimum depth: 2443.619665 meters looking forward 0.000000 meters along route # Maximum depth: 2443.619665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2393.619665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079411; longitude = -173.709484; captureRadius = 10; duration = 212; initialDepth = 2350.759903; finalDepth = 2393.619665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2393.619665 # Seafloor depth:-2443.619665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 106.162924 meters # Minimum depth: 2400.759903 meters looking forward 0.000000 meters along route # Maximum depth: 2400.759903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2350.759903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079466; longitude = -173.710414; captureRadius = 10; duration = 212; initialDepth = 2287.187195; finalDepth = 2350.759903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2350.759903 # Seafloor depth:-2400.759903 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 106.162924 meters # Minimum depth: 2337.187195 meters looking forward 0.000000 meters along route # Maximum depth: 2337.187195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2287.187195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079526; longitude = -173.711406; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2181.830115; finalDepth = 2287.187195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2287.187195 # Seafloor depth:-2337.187195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 106.162924 meters # Minimum depth: 2231.830115 meters looking forward 0.000000 meters along route # Maximum depth: 2231.830115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2181.830115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079602; longitude = -173.712740; captureRadius = 10; duration = 212; initialDepth = 2187.148527; finalDepth = 2181.830115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2181.830115 # Seafloor depth:-2231.830115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 106.162924 meters # Minimum depth: 2237.148527 meters looking forward 0.000000 meters along route # Maximum depth: 2237.148527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2187.148527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079655; longitude = -173.713670; captureRadius = 10; duration = 212; initialDepth = 2173.046679; finalDepth = 2187.148527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2187.148527 # Seafloor depth:-2237.148527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 106.162924 meters # Minimum depth: 2223.046679 meters looking forward 0.000000 meters along route # Maximum depth: 2223.046679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2173.046679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079709; longitude = -173.714600; captureRadius = 10; duration = 212; initialDepth = 2135.847825; finalDepth = 2173.046679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2173.046679 # Seafloor depth:-2223.046679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 106.162924 meters # Minimum depth: 2185.847825 meters looking forward 0.000000 meters along route # Maximum depth: 2185.847825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2135.847825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079762; longitude = -173.715530; captureRadius = 10; duration = 212; initialDepth = 2117.353801; finalDepth = 2135.847825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2135.847825 # Seafloor depth:-2185.847825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 106.162924 meters # Minimum depth: 2167.353801 meters looking forward 0.000000 meters along route # Maximum depth: 2167.353801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.353801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079815; longitude = -173.716461; captureRadius = 10; duration = 212; initialDepth = 2106.732894; finalDepth = 2117.353801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2117.353801 # Seafloor depth:-2167.353801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 106.162924 meters # Minimum depth: 2156.732894 meters looking forward 0.000000 meters along route # Maximum depth: 2156.732894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.732894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079868; longitude = -173.717391; captureRadius = 10; duration = 212; initialDepth = 2097.868524; finalDepth = 2106.732894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2106.732894 # Seafloor depth:-2156.732894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 106.162924 meters # Minimum depth: 2147.868524 meters looking forward 0.000000 meters along route # Maximum depth: 2147.868524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2097.868524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079921; longitude = -173.718321; captureRadius = 10; duration = 212; initialDepth = 2061.900269; finalDepth = 2097.868524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2097.868524 # Seafloor depth:-2147.868524 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 106.162924 meters # Minimum depth: 2111.900269 meters looking forward 0.000000 meters along route # Maximum depth: 2111.900269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2061.900269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079978; longitude = -173.719314; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2020.240734; finalDepth = 2061.900269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2061.900269 # Seafloor depth:-2111.900269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 106.162924 meters # Minimum depth: 2070.240734 meters looking forward 0.000000 meters along route # Maximum depth: 2070.240734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.240734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080271; longitude = -173.720554; captureRadius = 10; duration = 212; initialDepth = 2003.266468; finalDepth = 2020.240734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2020.240734 # Seafloor depth:-2070.240734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 106.162924 meters # Minimum depth: 2053.266468 meters looking forward 0.000000 meters along route # Maximum depth: 2053.266468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2003.266468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080491; longitude = -173.721484; captureRadius = 10; duration = 212; initialDepth = 1964.826376; finalDepth = 2003.266468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2003.266468 # Seafloor depth:-2053.266468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 106.162924 meters # Minimum depth: 2014.826376 meters looking forward 0.000000 meters along route # Maximum depth: 2014.826376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1964.826376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080711; longitude = -173.722415; captureRadius = 10; duration = 212; initialDepth = 1937.241899; finalDepth = 1964.826376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1964.826376 # Seafloor depth:-2014.826376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 106.162924 meters # Minimum depth: 1987.241899 meters looking forward 0.000000 meters along route # Maximum depth: 1987.241899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1937.241899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080931; longitude = -173.723345; captureRadius = 10; duration = 212; initialDepth = 1915.870639; finalDepth = 1937.241899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1937.241899 # Seafloor depth:-1987.241899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 106.162924 meters # Minimum depth: 1965.870639 meters looking forward 0.000000 meters along route # Maximum depth: 1965.870639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.870639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081151; longitude = -173.724275; captureRadius = 10; duration = 212; initialDepth = 1887.650676; finalDepth = 1915.870639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1915.870639 # Seafloor depth:-1965.870639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 106.162924 meters # Minimum depth: 1937.650676 meters looking forward 0.000000 meters along route # Maximum depth: 1937.650676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.650676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081371; longitude = -173.725205; captureRadius = 10; duration = 212; initialDepth = 1906.484283; finalDepth = 1887.650676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1887.650676 # Seafloor depth:-1937.650676 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 106.162924 meters # Minimum depth: 1956.484283 meters looking forward 0.000000 meters along route # Maximum depth: 1956.484283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.484283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081606; longitude = -173.726198; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1890.885002; finalDepth = 1906.484283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1906.484283 # Seafloor depth:-1956.484283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 106.162924 meters # Minimum depth: 1940.885002 meters looking forward 0.000000 meters along route # Maximum depth: 1940.885002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.885002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081862; longitude = -173.726880; captureRadius = 10; duration = 212; initialDepth = 1866.751845; finalDepth = 1890.885002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1890.885002 # Seafloor depth:-1940.885002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 106.162924 meters # Minimum depth: 1916.751845 meters looking forward 0.000000 meters along route # Maximum depth: 1916.751845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.751845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082211; longitude = -173.727810; captureRadius = 10; duration = 212; initialDepth = 1835.823860; finalDepth = 1866.751845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1866.751845 # Seafloor depth:-1916.751845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 106.162924 meters # Minimum depth: 1885.823860 meters looking forward 0.000000 meters along route # Maximum depth: 1885.823860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.823860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082559; longitude = -173.728741; captureRadius = 10; duration = 212; initialDepth = 1818.809559; finalDepth = 1835.823860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1835.82386 # Seafloor depth:-1885.823860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 106.162924 meters # Minimum depth: 1868.809559 meters looking forward 0.000000 meters along route # Maximum depth: 1868.809559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.809559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082908; longitude = -173.729671; captureRadius = 10; duration = 212; initialDepth = 1787.177905; finalDepth = 1818.809559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.809559 # Seafloor depth:-1868.809559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 106.162924 meters # Minimum depth: 1837.177905 meters looking forward 0.000000 meters along route # Maximum depth: 1837.177905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.177905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083263; longitude = -173.730617; captureRadius = 10; duration = 212; initialDepth = 1781.124542; finalDepth = 1787.177905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1787.177905 # Seafloor depth:-1837.177905 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 106.162924 meters # Minimum depth: 1831.124542 meters looking forward 0.000000 meters along route # Maximum depth: 1831.124542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.124542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083594; longitude = -173.731500; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1714.570567; finalDepth = 1781.124542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1781.124542 # Seafloor depth:-1831.124542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 106.162924 meters # Minimum depth: 1764.570567 meters looking forward 0.000000 meters along route # Maximum depth: 1764.570567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.570567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084133; longitude = -173.733020; captureRadius = 10; duration = 212; initialDepth = 1683.166721; finalDepth = 1714.570567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1714.570567 # Seafloor depth:-1764.570567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 106.162924 meters # Minimum depth: 1733.166721 meters looking forward 0.000000 meters along route # Maximum depth: 1733.166721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.166721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084463; longitude = -173.733950; captureRadius = 10; duration = 212; initialDepth = 1686.237697; finalDepth = 1683.166721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1683.166721 # Seafloor depth:-1733.166721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 106.162924 meters # Minimum depth: 1736.237697 meters looking forward 0.000000 meters along route # Maximum depth: 1736.237697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.237697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084800; longitude = -173.734901; captureRadius = 10; duration = 212; initialDepth = 1657.957982; finalDepth = 1686.237697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1686.237697 # Seafloor depth:-1736.237697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 106.162924 meters # Minimum depth: 1707.957982 meters looking forward 0.000000 meters along route # Maximum depth: 1707.957982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.957982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085122; longitude = -173.735811; captureRadius = 10; duration = 212; initialDepth = 1643.366425; finalDepth = 1657.957982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1657.957982 # Seafloor depth:-1707.957982 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 106.162924 meters # Minimum depth: 1693.366425 meters looking forward 0.000000 meters along route # Maximum depth: 1693.366425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.366425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085463; longitude = -173.736772; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1610.742275; finalDepth = 1643.366425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1643.366425 # Seafloor depth:-1693.366425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 106.162924 meters # Minimum depth: 1660.742275 meters looking forward 0.000000 meters along route # Maximum depth: 1660.742275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.742275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086129; longitude = -173.737950; captureRadius = 10; duration = 212; initialDepth = 1613.340655; finalDepth = 1610.742275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1610.742275 # Seafloor depth:-1660.742275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 106.162924 meters # Minimum depth: 1663.340655 meters looking forward 0.000000 meters along route # Maximum depth: 1663.340655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.340655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086608; longitude = -173.738799; captureRadius = 10; duration = 212; initialDepth = 1551.309822; finalDepth = 1613.340655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1613.340655 # Seafloor depth:-1663.340655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 106.162924 meters # Minimum depth: 1601.309822 meters looking forward 0.000000 meters along route # Maximum depth: 1601.309822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.309822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087075; longitude = -173.739625; captureRadius = 10; duration = 212; initialDepth = 1532.997066; finalDepth = 1551.309822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1551.309822 # Seafloor depth:-1601.309822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 106.162924 meters # Minimum depth: 1582.997066 meters looking forward 0.000000 meters along route # Maximum depth: 1582.997066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.997066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087547; longitude = -173.740462; captureRadius = 10; duration = 212; initialDepth = 1492.159510; finalDepth = 1532.997066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1532.997066 # Seafloor depth:-1582.997066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 106.162924 meters # Minimum depth: 1542.159510 meters looking forward 0.000000 meters along route # Maximum depth: 1542.159510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.159510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088020; longitude = -173.741299; captureRadius = 10; duration = 212; initialDepth = 1488.772675; finalDepth = 1492.159510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1492.15951 # Seafloor depth:-1542.159510 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 49 # Segment length 106.162924 meters # Minimum depth: 1538.772675 meters looking forward 0.000000 meters along route # Maximum depth: 1538.772675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.772675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088476; longitude = -173.742106; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1449.845231; finalDepth = 1488.772675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1488.772675 # Seafloor depth:-1538.772675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1499.845231 meters looking forward 0.000000 meters along route # Maximum depth: 1499.845231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.845231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089081; longitude = -173.741672; captureRadius = 10; duration = 212; initialDepth = 1429.550218; finalDepth = 1449.845231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1449.845231 # Seafloor depth:-1499.845231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1479.550218 meters looking forward 0.000000 meters along route # Maximum depth: 1479.550218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.550218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089862; longitude = -173.741111; captureRadius = 10; duration = 212; initialDepth = 1476.142326; finalDepth = 1429.550218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1429.550218 # Seafloor depth:-1479.550218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1526.142326 meters looking forward 0.000000 meters along route # Maximum depth: 1526.142326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.142326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090637; longitude = -173.740555; captureRadius = 10; duration = 212; initialDepth = 1529.635220; finalDepth = 1476.142326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1476.142326 # Seafloor depth:-1526.142326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1594.639096 meters looking forward 0.000000 meters along route # Maximum depth: 1594.639096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.635220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091415; longitude = -173.739997; captureRadius = 10; duration = 212; initialDepth = 1584.518802; finalDepth = 1529.635220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0038764181033 # Actual altitude: 65.0038764181033 # Commanded vehicle depth:1529.6352195819 # Seafloor depth:-1594.639096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.00; MB_Bottom_Detect_Filter_Max_Range = 260.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1652.009122 meters looking forward 0.000000 meters along route # Maximum depth: 1652.009122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.518802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092213; longitude = -173.739424; captureRadius = 10; duration = 212; initialDepth = 1636.620752; finalDepth = 1584.518802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4903202924988 # Actual altitude: 67.4903202924988 # Commanded vehicle depth:1584.5188017075 # Seafloor depth:-1652.009122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.49; MB_Bottom_Detect_Filter_Max_Range = 269.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1708.680703 meters looking forward 0.000000 meters along route # Maximum depth: 1708.680703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.620752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092970; longitude = -173.738881; captureRadius = 10; duration = 212; initialDepth = 1690.216808; finalDepth = 1636.620752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0599505075006 # Actual altitude: 72.0599505075006 # Commanded vehicle depth:1636.6207524925 # Seafloor depth:-1708.680703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.24; MB_Bottom_Detect_Filter_Max_Range = 288.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1774.487671 meters looking forward 0.000000 meters along route # Maximum depth: 1774.487671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.216808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093750; longitude = -173.738321; captureRadius = 10; duration = 212; initialDepth = 1746.174441; finalDepth = 1690.216808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2708633479915 # Actual altitude: 84.2708633479915 # Commanded vehicle depth:1690.21680765201 # Seafloor depth:-1774.487671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.56; MB_Bottom_Detect_Filter_Max_Range = 337.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 106.162924 meters # Minimum depth: 1812.104136 meters looking forward 0.000000 meters along route # Maximum depth: 1812.104136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.174441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094563; longitude = -173.737738; captureRadius = 10; duration = 212; initialDepth = 1798.481415; finalDepth = 1746.174441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.2708633479915 # Actual altitude: 84.2708633479915 # Commanded vehicle depth:1746.1744413799 # Seafloor depth:-1812.104136 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 337.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.56; MB_Bottom_Detect_Filter_Max_Range = 337.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.08; 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 48 # Segment length 106.162924 meters # Minimum depth: 1848.481415 meters looking forward 0.000000 meters along route # Maximum depth: 1848.481415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.481415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095347; longitude = -173.737175; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1742.108554; finalDepth = 1798.481415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9296946200984 # Actual altitude: 65.9296946200984 # Commanded vehicle depth:1798.481415 # Seafloor depth:-1848.481415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.56; MB_Bottom_Detect_Filter_Max_Range = 263.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1792.108554 meters looking forward 0.000000 meters along route # Maximum depth: 1792.108554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.108554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096190; longitude = -173.738425; captureRadius = 10; duration = 212; initialDepth = 1702.275983; finalDepth = 1742.108554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1742.108554 # Seafloor depth:-1792.108554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1752.275983 meters looking forward 0.000000 meters along route # Maximum depth: 1752.275983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.275983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096749; longitude = -173.739253; captureRadius = 10; duration = 212; initialDepth = 1674.869593; finalDepth = 1702.275983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1702.275983 # Seafloor depth:-1752.275983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1724.869593 meters looking forward 0.000000 meters along route # Maximum depth: 1724.869593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.869593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097275; longitude = -173.740032; captureRadius = 10; duration = 212; initialDepth = 1637.819371; finalDepth = 1674.869593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1674.869593 # Seafloor depth:-1724.869593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1687.819371 meters looking forward 0.000000 meters along route # Maximum depth: 1687.819371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.819371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097818; longitude = -173.740836; captureRadius = 10; duration = 212; initialDepth = 1611.786341; finalDepth = 1637.819371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1637.819371 # Seafloor depth:-1687.819371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1661.786341 meters looking forward 0.000000 meters along route # Maximum depth: 1661.786341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.786341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098381; longitude = -173.741672; captureRadius = 10; duration = 212; initialDepth = 1592.510264; finalDepth = 1611.786341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1611.786341 # Seafloor depth:-1661.786341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1642.510264 meters looking forward 0.000000 meters along route # Maximum depth: 1642.510264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.510264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098902; longitude = -173.742444; captureRadius = 10; duration = 212; initialDepth = 1586.016254; finalDepth = 1592.510264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1592.510264 # Seafloor depth:-1642.510264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1636.016254 meters looking forward 0.000000 meters along route # Maximum depth: 1636.016254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.016254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099449; longitude = -173.743253; captureRadius = 10; duration = 212; initialDepth = 1578.941604; finalDepth = 1586.016254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1586.016254 # Seafloor depth:-1636.016254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1628.941604 meters looking forward 0.000000 meters along route # Maximum depth: 1628.941604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.941604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100014; longitude = -173.744090; captureRadius = 10; duration = 212; initialDepth = 1578.600371; finalDepth = 1578.941604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1578.941604 # Seafloor depth:-1628.941604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1628.600371 meters looking forward 0.000000 meters along route # Maximum depth: 1628.600371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.600371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100530; longitude = -173.744855; captureRadius = 10; duration = 212; initialDepth = 1580.791796; finalDepth = 1578.600371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1578.600371 # Seafloor depth:-1628.600371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1630.791796 meters looking forward 0.000000 meters along route # Maximum depth: 1630.791796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.791796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101081; longitude = -173.745672; captureRadius = 10; duration = 212; initialDepth = 1563.541884; finalDepth = 1580.791796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1580.791796 # Seafloor depth:-1630.791796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1613.541884 meters looking forward 0.000000 meters along route # Maximum depth: 1613.541884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.541884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101615; longitude = -173.746463; captureRadius = 10; duration = 212; initialDepth = 1574.161033; finalDepth = 1563.541884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1563.541884 # Seafloor depth:-1613.541884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1624.161033 meters looking forward 0.000000 meters along route # Maximum depth: 1624.161033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.161033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102157; longitude = -173.747266; captureRadius = 10; duration = 212; initialDepth = 1605.740615; finalDepth = 1574.161033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1574.161033 # Seafloor depth:-1624.161033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1655.740615 meters looking forward 0.000000 meters along route # Maximum depth: 1655.740615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.740615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102713; longitude = -173.748091; captureRadius = 10; duration = 212; initialDepth = 1661.615879; finalDepth = 1605.740615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1605.740615 # Seafloor depth:-1655.740615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1716.518951 meters looking forward 0.000000 meters along route # Maximum depth: 1716.518951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.615879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103278; longitude = -173.748928; captureRadius = 10; duration = 212; initialDepth = 1717.491081; finalDepth = 1661.615879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.903071645105 # Actual altitude: 54.903071645105 # Commanded vehicle depth:1661.6158793549 # Seafloor depth:-1716.518951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 219.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 106.162924 meters # Minimum depth: 1770.477964 meters looking forward 0.000000 meters along route # Maximum depth: 1770.477964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.491081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103843; longitude = -173.749765; captureRadius = 10; duration = 212; initialDepth = 1771.277521; finalDepth = 1717.491081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.903071645105 # Actual altitude: 54.903071645105 # Commanded vehicle depth:1717.49108103816 # Seafloor depth:-1770.477964 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 219.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.61; 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 47 # Segment length 106.162924 meters # Minimum depth: 1832.934601 meters looking forward 0.000000 meters along route # Maximum depth: 1832.934601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.277521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104387; longitude = -173.750571; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1735.814833; finalDepth = 1771.277521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.6570801123935 # Actual altitude: 61.6570801123935 # Commanded vehicle depth:1771.27752088761 # Seafloor depth:-1832.934601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.99; MB_Bottom_Detect_Filter_Max_Range = 246.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.162924 meters # Minimum depth: 1785.814833 meters looking forward 0.000000 meters along route # Maximum depth: 1785.814833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.814833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103367; longitude = -173.751254; captureRadius = 10; duration = 212; initialDepth = 1698.435604; finalDepth = 1735.814833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.6570801123935 # Actual altitude: 61.6570801123935 # Commanded vehicle depth:1735.814833 # Seafloor depth:-1785.814833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.99; MB_Bottom_Detect_Filter_Max_Range = 246.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.162924 meters # Minimum depth: 1748.435604 meters looking forward 0.000000 meters along route # Maximum depth: 1748.435604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.435604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102609; longitude = -173.751760; captureRadius = 10; duration = 212; initialDepth = 1663.936434; finalDepth = 1698.435604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1698.435604 # Seafloor depth:-1748.435604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.162924 meters # Minimum depth: 1713.936434 meters looking forward 0.000000 meters along route # Maximum depth: 1713.936434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.936434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101795; longitude = -173.752305; captureRadius = 10; duration = 212; initialDepth = 1616.014259; finalDepth = 1663.936434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1663.936434 # Seafloor depth:-1713.936434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.162924 meters # Minimum depth: 1666.014259 meters looking forward 0.000000 meters along route # Maximum depth: 1666.014259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.014259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100982; longitude = -173.752849; captureRadius = 10; duration = 212; initialDepth = 1554.918446; finalDepth = 1616.014259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.014259 # Seafloor depth:-1666.014259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.162924 meters # Minimum depth: 1604.918446 meters looking forward 0.000000 meters along route # Maximum depth: 1604.918446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.918446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100168; longitude = -173.753393; captureRadius = 10; duration = 212; initialDepth = 1498.314770; finalDepth = 1554.918446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1554.918446 # Seafloor depth:-1604.918446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.162924 meters # Minimum depth: 1548.314770 meters looking forward 0.000000 meters along route # Maximum depth: 1548.314770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.314770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099334; longitude = -173.753951; captureRadius = 10; duration = 212; initialDepth = 1456.305608; finalDepth = 1498.314770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1498.31477 # Seafloor depth:-1548.314770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.162924 meters # Minimum depth: 1506.305608 meters looking forward 0.000000 meters along route # Maximum depth: 1506.305608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.305608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098541; longitude = -173.754482; captureRadius = 10; duration = 212; initialDepth = 1509.048256; finalDepth = 1456.305608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1456.305608 # Seafloor depth:-1506.305608 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 106.162924 meters # Minimum depth: 1566.472534 meters looking forward 0.000000 meters along route # Maximum depth: 1566.472534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.048256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097757; longitude = -173.755006; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1567.343449; finalDepth = 1509.048256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4242780560428 # Actual altitude: 57.4242780560428 # Commanded vehicle depth:1509.04825594396 # Seafloor depth:-1566.472534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.45; MB_Bottom_Detect_Filter_Max_Range = 229.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 106.162924 meters # Minimum depth: 1617.343449 meters looking forward 0.000000 meters along route # Maximum depth: 1617.343449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1567.343449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098572; longitude = -173.756091; captureRadius = 10; duration = 212; initialDepth = 1556.614013; finalDepth = 1567.343449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.4242780560428 # Actual altitude: 57.4242780560428 # Commanded vehicle depth:1567.343449 # Seafloor depth:-1617.343449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.45; MB_Bottom_Detect_Filter_Max_Range = 229.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 106.162924 meters # Minimum depth: 1606.614013 meters looking forward 0.000000 meters along route # Maximum depth: 1606.614013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.614013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099131; longitude = -173.756835; captureRadius = 10; duration = 212; initialDepth = 1588.427739; finalDepth = 1556.614013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1556.614013 # Seafloor depth:-1606.614013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 106.162924 meters # Minimum depth: 1638.427739 meters looking forward 0.000000 meters along route # Maximum depth: 1638.427739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.427739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099690; longitude = -173.757579; captureRadius = 10; duration = 212; initialDepth = 1614.416261; finalDepth = 1588.427739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1588.427739 # Seafloor depth:-1638.427739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 106.162924 meters # Minimum depth: 1664.416261 meters looking forward 0.000000 meters along route # Maximum depth: 1664.416261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.416261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100259; longitude = -173.758337; captureRadius = 10; duration = 212; initialDepth = 1654.260376; finalDepth = 1614.416261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1614.416261 # Seafloor depth:-1664.416261 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 106.162924 meters # Minimum depth: 1704.260376 meters looking forward 0.000000 meters along route # Maximum depth: 1704.260376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.260376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100831; longitude = -173.759099; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1699.536293; finalDepth = 1654.260376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1654.260376 # Seafloor depth:-1704.260376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.162924 meters # Minimum depth: 1749.536293 meters looking forward 0.000000 meters along route # Maximum depth: 1749.536293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.536293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101457; longitude = -173.759812; captureRadius = 10; duration = 212; initialDepth = 1688.043238; finalDepth = 1699.536293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.536293 # Seafloor depth:-1749.536293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.162924 meters # Minimum depth: 1738.043238 meters looking forward 0.000000 meters along route # Maximum depth: 1738.043238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.043238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102067; longitude = -173.760507; captureRadius = 10; duration = 212; initialDepth = 1741.297982; finalDepth = 1688.043238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1688.043238 # Seafloor depth:-1738.043238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.162924 meters # Minimum depth: 1805.059481 meters looking forward 0.000000 meters along route # Maximum depth: 1805.059481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.297982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102699; longitude = -173.761228; captureRadius = 10; duration = 212; initialDepth = 1794.802173; finalDepth = 1741.297982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.7614985513076 # Actual altitude: 63.7614985513076 # Commanded vehicle depth:1741.29798244869 # Seafloor depth:-1805.059481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.26; MB_Bottom_Detect_Filter_Max_Range = 255.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.162924 meters # Minimum depth: 1867.552275 meters looking forward 0.000000 meters along route # Maximum depth: 1867.552275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.802173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103335; longitude = -173.761952; captureRadius = 10; duration = 212; initialDepth = 1849.778068; finalDepth = 1794.802173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7501017713703 # Actual altitude: 72.7501017713703 # Commanded vehicle depth:1794.80217322863 # Seafloor depth:-1867.552275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.65; MB_Bottom_Detect_Filter_Max_Range = 291.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.162924 meters # Minimum depth: 1900.375814 meters looking forward 0.000000 meters along route # Maximum depth: 1900.375814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.778068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103988; longitude = -173.762696; captureRadius = 10; duration = 212; initialDepth = 1845.205407; finalDepth = 1849.778068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7501017713703 # Actual altitude: 72.7501017713703 # Commanded vehicle depth:1849.77806760666 # Seafloor depth:-1900.375814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.65; MB_Bottom_Detect_Filter_Max_Range = 291.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.162924 meters # Minimum depth: 1895.205407 meters looking forward 0.000000 meters along route # Maximum depth: 1895.205407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.205407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104598; longitude = -173.763390; captureRadius = 10; duration = 212; initialDepth = 1875.781685; finalDepth = 1845.205407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5977463933368 # Actual altitude: 50.5977463933368 # Commanded vehicle depth:1845.205407 # Seafloor depth:-1895.205407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.36; MB_Bottom_Detect_Filter_Max_Range = 202.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 106.162924 meters # Minimum depth: 1925.781685 meters looking forward 0.000000 meters along route # Maximum depth: 1925.781685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.781685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105231; longitude = -173.764111; captureRadius = 10; duration = 212; initialDepth = 1931.609315; finalDepth = 1875.781685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1875.781685 # Seafloor depth:-1925.781685 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 106.162924 meters # Minimum depth: 1999.143250 meters looking forward 0.000000 meters along route # Maximum depth: 1999.143250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.609315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105894; longitude = -173.764867; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2005.048653; finalDepth = 1931.609315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5339351593839 # Actual altitude: 67.5339351593839 # Commanded vehicle depth:1931.60931484062 # Seafloor depth:-1999.143250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.52; MB_Bottom_Detect_Filter_Max_Range = 270.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 106.162924 meters # Minimum depth: 2063.372936 meters looking forward 0.000000 meters along route # Maximum depth: 2063.372936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2005.048653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106767; longitude = -173.765860; captureRadius = 10; duration = 212; initialDepth = 2039.510773; finalDepth = 2005.048653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5339351593839 # Actual altitude: 67.5339351593839 # Commanded vehicle depth:2005.04865327861 # Seafloor depth:-2063.372936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.52; MB_Bottom_Detect_Filter_Max_Range = 270.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 106.162924 meters # Minimum depth: 2089.510773 meters looking forward 0.000000 meters along route # Maximum depth: 2089.510773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.510773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107421; longitude = -173.766603; captureRadius = 10; duration = 212; initialDepth = 2056.139770; finalDepth = 2039.510773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3242827213853 # Actual altitude: 58.3242827213853 # Commanded vehicle depth:2039.510773 # Seafloor depth:-2089.510773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 233.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 106.162924 meters # Minimum depth: 2106.139770 meters looking forward 0.000000 meters along route # Maximum depth: 2106.139770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.139770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108033; longitude = -173.767300; captureRadius = 10; duration = 212; initialDepth = 2082.940295; finalDepth = 2056.139770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2056.13977 # Seafloor depth:-2106.139770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 106.162924 meters # Minimum depth: 2132.940295 meters looking forward 0.000000 meters along route # Maximum depth: 2132.940295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.940295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108666; longitude = -173.768020; captureRadius = 10; duration = 212; initialDepth = 2135.455139; finalDepth = 2082.940295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2082.940295 # Seafloor depth:-2132.940295 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 106.162924 meters # Minimum depth: 2185.455139 meters looking forward 0.000000 meters along route # Maximum depth: 2185.455139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2135.455139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109329; longitude = -173.768774; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2199.668458; finalDepth = 2135.455139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2135.455139 # Seafloor depth:-2185.455139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 106.162924 meters # Minimum depth: 2249.668458 meters looking forward 0.000000 meters along route # Maximum depth: 2249.668458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2199.668458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110293; longitude = -173.769874; captureRadius = 10; duration = 212; initialDepth = 2220.085311; finalDepth = 2199.668458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2199.668458 # Seafloor depth:-2249.668458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 106.162924 meters # Minimum depth: 2270.085311 meters looking forward 0.000000 meters along route # Maximum depth: 2270.085311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.085311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110933; longitude = -173.770604; captureRadius = 10; duration = 212; initialDepth = 2275.023983; finalDepth = 2220.085311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2220.085311 # Seafloor depth:-2270.085311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 106.162924 meters # Minimum depth: 2334.913759 meters looking forward 0.000000 meters along route # Maximum depth: 2334.913759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.023983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111585; longitude = -173.771348; captureRadius = 10; duration = 212; initialDepth = 2293.506619; finalDepth = 2275.023983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8897759838928 # Actual altitude: 59.8897759838928 # Commanded vehicle depth:2275.02398301611 # Seafloor depth:-2334.913759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.93; MB_Bottom_Detect_Filter_Max_Range = 239.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 106.162924 meters # Minimum depth: 2343.506619 meters looking forward 0.000000 meters along route # Maximum depth: 2343.506619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2293.506619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112192; longitude = -173.772040; captureRadius = 10; duration = 212; initialDepth = 2332.139325; finalDepth = 2293.506619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8897759838928 # Actual altitude: 59.8897759838928 # Commanded vehicle depth:2293.506619 # Seafloor depth:-2343.506619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.93; MB_Bottom_Detect_Filter_Max_Range = 239.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 106.162924 meters # Minimum depth: 2382.139325 meters looking forward 0.000000 meters along route # Maximum depth: 2382.139325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2332.139325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112824; longitude = -173.772762; captureRadius = 10; duration = 212; initialDepth = 2350.604492; finalDepth = 2332.139325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2332.139325 # Seafloor depth:-2382.139325 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 106.162924 meters # Minimum depth: 2400.604492 meters looking forward 0.000000 meters along route # Maximum depth: 2400.604492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2350.604492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113487; longitude = -173.773518; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2396.376522; finalDepth = 2350.604492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2350.604492 # Seafloor depth:-2400.604492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2446.376522 meters looking forward 0.000000 meters along route # Maximum depth: 2446.376522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2396.376522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114542; longitude = -173.774667; captureRadius = 10; duration = 212; initialDepth = 2448.359057; finalDepth = 2396.376522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2396.376522 # Seafloor depth:-2446.376522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2521.422512 meters looking forward 0.000000 meters along route # Maximum depth: 2521.422512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2448.359057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115175; longitude = -173.775357; captureRadius = 10; duration = 212; initialDepth = 2500.341539; finalDepth = 2448.359057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.063455163649 # Actual altitude: 73.063455163649 # Commanded vehicle depth:2448.35905683635 # Seafloor depth:-2521.422512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.84; MB_Bottom_Detect_Filter_Max_Range = 292.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2555.866339 meters looking forward 0.000000 meters along route # Maximum depth: 2555.866339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2500.341539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115808; longitude = -173.776046; captureRadius = 10; duration = 212; initialDepth = 2523.067786; finalDepth = 2500.341539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.063455163649 # Actual altitude: 73.063455163649 # Commanded vehicle depth:2500.34153919158 # Seafloor depth:-2555.866339 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.84; MB_Bottom_Detect_Filter_Max_Range = 292.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2573.067786 meters looking forward 0.000000 meters along route # Maximum depth: 2573.067786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2523.067786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116448; longitude = -173.776743; captureRadius = 10; duration = 212; initialDepth = 2541.519356; finalDepth = 2523.067786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5247998084174 # Actual altitude: 55.5247998084174 # Commanded vehicle depth:2523.067786 # Seafloor depth:-2573.067786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.31; MB_Bottom_Detect_Filter_Max_Range = 222.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2591.519356 meters looking forward 0.000000 meters along route # Maximum depth: 2591.519356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2541.519356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117073; longitude = -173.777425; captureRadius = 10; duration = 212; initialDepth = 2593.501682; finalDepth = 2541.519356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2541.519356 # Seafloor depth:-2591.519356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2644.835107 meters looking forward 0.000000 meters along route # Maximum depth: 2644.835107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2593.501682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117706; longitude = -173.778114; captureRadius = 10; duration = 212; initialDepth = 2645.483957; finalDepth = 2593.501682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3334245595538 # Actual altitude: 51.3334245595538 # Commanded vehicle depth:2593.50168244045 # Seafloor depth:-2644.835107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.80; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2703.628839 meters looking forward 0.000000 meters along route # Maximum depth: 2703.628839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2645.483957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118339; longitude = -173.778803; captureRadius = 10; duration = 212; initialDepth = 2681.580002; finalDepth = 2645.483957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1448815811759 # Actual altitude: 58.1448815811759 # Commanded vehicle depth:2645.48395741882 # Seafloor depth:-2703.628839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.89; MB_Bottom_Detect_Filter_Max_Range = 232.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.162924 meters # Minimum depth: 2731.580002 meters looking forward 0.000000 meters along route # Maximum depth: 2731.580002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2681.580002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119010; longitude = -173.779534; captureRadius = 10; duration = 212; initialDepth = 2688.293274; finalDepth = 2681.580002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1448815811759 # Actual altitude: 58.1448815811759 # Commanded vehicle depth:2681.580002 # Seafloor depth:-2731.580002 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.89; MB_Bottom_Detect_Filter_Max_Range = 232.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.58; 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 106.162924 meters # Minimum depth: 2738.293274 meters looking forward 0.000000 meters along route # Maximum depth: 2738.293274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2688.293274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119665; longitude = -173.780248; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2665.840149; finalDepth = 2688.293274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2688.293274 # Seafloor depth:-2738.293274 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 106.162924 meters # Minimum depth: 2715.840149 meters looking forward 0.000000 meters along route # Maximum depth: 2715.840149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2665.840149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120539; longitude = -173.779286; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2634.332201; finalDepth = 2665.840149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2665.840149 # Seafloor depth:-2715.840149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2684.332201 meters looking forward 0.000000 meters along route # Maximum depth: 2684.332201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2634.332201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119605; longitude = -173.778281; captureRadius = 10; duration = 212; initialDepth = 2621.960503; finalDepth = 2634.332201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2634.332201 # Seafloor depth:-2684.332201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2671.960503 meters looking forward 0.000000 meters along route # Maximum depth: 2671.960503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2621.960503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118972; longitude = -173.777601; captureRadius = 10; duration = 212; initialDepth = 2554.845680; finalDepth = 2621.960503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2621.960503 # Seafloor depth:-2671.960503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2604.845680 meters looking forward 0.000000 meters along route # Maximum depth: 2604.845680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2554.845680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118339; longitude = -173.776921; captureRadius = 10; duration = 212; initialDepth = 2505.296064; finalDepth = 2554.845680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2554.84568 # Seafloor depth:-2604.845680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2555.296064 meters looking forward 0.000000 meters along route # Maximum depth: 2555.296064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2505.296064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117706; longitude = -173.776240; captureRadius = 10; duration = 212; initialDepth = 2508.211578; finalDepth = 2505.296064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2505.296064 # Seafloor depth:-2555.296064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2558.211578 meters looking forward 0.000000 meters along route # Maximum depth: 2558.211578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2508.211578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117073; longitude = -173.775560; captureRadius = 10; duration = 212; initialDepth = 2479.491000; finalDepth = 2508.211578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2508.211578 # Seafloor depth:-2558.211578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2529.491000 meters looking forward 0.000000 meters along route # Maximum depth: 2529.491000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2479.491000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116440; longitude = -173.774880; captureRadius = 10; duration = 212; initialDepth = 2432.871061; finalDepth = 2479.491000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2479.491 # Seafloor depth:-2529.491000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2482.871061 meters looking forward 0.000000 meters along route # Maximum depth: 2482.871061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2432.871061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115808; longitude = -173.774199; captureRadius = 10; duration = 212; initialDepth = 2381.841862; finalDepth = 2432.871061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2432.871061 # Seafloor depth:-2482.871061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 106.162924 meters # Minimum depth: 2431.841862 meters looking forward 0.000000 meters along route # Maximum depth: 2431.841862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2381.841862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115146; longitude = -173.773487; captureRadius = 10; duration = 212; initialDepth = 2351.331787; finalDepth = 2381.841862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2381.841862 # Seafloor depth:-2431.841862 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 106.162924 meters # Minimum depth: 2401.331787 meters looking forward 0.000000 meters along route # Maximum depth: 2401.331787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2351.331787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114482; longitude = -173.772774; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2306.565057; finalDepth = 2351.331787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2351.331787 # Seafloor depth:-2401.331787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 106.162924 meters # Minimum depth: 2356.565057 meters looking forward 0.000000 meters along route # Maximum depth: 2356.565057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2306.565057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113457; longitude = -173.771605; captureRadius = 10; duration = 212; initialDepth = 2281.258153; finalDepth = 2306.565057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2306.565057 # Seafloor depth:-2356.565057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 106.162924 meters # Minimum depth: 2331.258153 meters looking forward 0.000000 meters along route # Maximum depth: 2331.258153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2281.258153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112824; longitude = -173.770883; captureRadius = 10; duration = 212; initialDepth = 2243.156089; finalDepth = 2281.258153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2281.258153 # Seafloor depth:-2331.258153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 106.162924 meters # Minimum depth: 2293.156089 meters looking forward 0.000000 meters along route # Maximum depth: 2293.156089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.156089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112171; longitude = -173.770138; captureRadius = 10; duration = 212; initialDepth = 2207.009711; finalDepth = 2243.156089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2243.156089 # Seafloor depth:-2293.156089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 106.162924 meters # Minimum depth: 2257.009711 meters looking forward 0.000000 meters along route # Maximum depth: 2257.009711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2207.009711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111559; longitude = -173.769440; captureRadius = 10; duration = 212; initialDepth = 2134.182471; finalDepth = 2207.009711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2207.009711 # Seafloor depth:-2257.009711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 106.162924 meters # Minimum depth: 2184.182471 meters looking forward 0.000000 meters along route # Maximum depth: 2184.182471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.182471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110948; longitude = -173.768743; captureRadius = 10; duration = 212; initialDepth = 2125.601318; finalDepth = 2134.182471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2134.182471 # Seafloor depth:-2184.182471 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 106.162924 meters # Minimum depth: 2175.601318 meters looking forward 0.000000 meters along route # Maximum depth: 2175.601318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.601318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110323; longitude = -173.768030; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2077.767953; finalDepth = 2125.601318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2125.601318 # Seafloor depth:-2175.601318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 106.162924 meters # Minimum depth: 2127.767953 meters looking forward 0.000000 meters along route # Maximum depth: 2127.767953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.767953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109389; longitude = -173.766944; captureRadius = 10; duration = 212; initialDepth = 2030.254862; finalDepth = 2077.767953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2077.767953 # Seafloor depth:-2127.767953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 106.162924 meters # Minimum depth: 2080.254862 meters looking forward 0.000000 meters along route # Maximum depth: 2080.254862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2030.254862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108756; longitude = -173.766209; captureRadius = 10; duration = 212; initialDepth = 1976.005012; finalDepth = 2030.254862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2030.254862 # Seafloor depth:-2080.254862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 106.162924 meters # Minimum depth: 2026.005012 meters looking forward 0.000000 meters along route # Maximum depth: 2026.005012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1976.005012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108123; longitude = -173.765473; captureRadius = 10; duration = 212; initialDepth = 1932.813348; finalDepth = 1976.005012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1976.005012 # Seafloor depth:-2026.005012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 106.162924 meters # Minimum depth: 1982.813348 meters looking forward 0.000000 meters along route # Maximum depth: 1982.813348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.813348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107491; longitude = -173.764737; captureRadius = 10; duration = 212; initialDepth = 1903.117981; finalDepth = 1932.813348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1932.813348 # Seafloor depth:-1982.813348 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 106.162924 meters # Minimum depth: 1953.117981 meters looking forward 0.000000 meters along route # Maximum depth: 1953.117981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.117981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106828; longitude = -173.763967; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1880.064303; finalDepth = 1903.117981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1903.117981 # Seafloor depth:-1953.117981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.162924 meters # Minimum depth: 1930.064303 meters looking forward 0.000000 meters along route # Maximum depth: 1930.064303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.064303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106044; longitude = -173.763119; captureRadius = 10; duration = 212; initialDepth = 1842.951783; finalDepth = 1880.064303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1880.064303 # Seafloor depth:-1930.064303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.162924 meters # Minimum depth: 1892.951783 meters looking forward 0.000000 meters along route # Maximum depth: 1892.951783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.951783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105411; longitude = -173.762434; captureRadius = 10; duration = 212; initialDepth = 1812.980228; finalDepth = 1842.951783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.951783 # Seafloor depth:-1892.951783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.162924 meters # Minimum depth: 1862.980228 meters looking forward 0.000000 meters along route # Maximum depth: 1862.980228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.980228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104779; longitude = -173.761750; captureRadius = 10; duration = 212; initialDepth = 1783.691388; finalDepth = 1812.980228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1812.980228 # Seafloor depth:-1862.980228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.162924 meters # Minimum depth: 1833.691388 meters looking forward 0.000000 meters along route # Maximum depth: 1833.691388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.691388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104146; longitude = -173.761065; captureRadius = 10; duration = 212; initialDepth = 1732.416286; finalDepth = 1783.691388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1783.691388 # Seafloor depth:-1833.691388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.162924 meters # Minimum depth: 1782.416286 meters looking forward 0.000000 meters along route # Maximum depth: 1782.416286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.416286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103504; longitude = -173.760370; captureRadius = 10; duration = 212; initialDepth = 1689.512534; finalDepth = 1732.416286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1732.416286 # Seafloor depth:-1782.416286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.162924 meters # Minimum depth: 1739.512534 meters looking forward 0.000000 meters along route # Maximum depth: 1739.512534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.512534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102880; longitude = -173.759695; captureRadius = 10; duration = 212; initialDepth = 1641.427756; finalDepth = 1689.512534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1689.512534 # Seafloor depth:-1739.512534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.162924 meters # Minimum depth: 1691.427756 meters looking forward 0.000000 meters along route # Maximum depth: 1691.427756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.427756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102214; longitude = -173.758975; captureRadius = 10; duration = 212; initialDepth = 1623.405060; finalDepth = 1641.427756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1641.427756 # Seafloor depth:-1691.427756 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 106.162924 meters # Minimum depth: 1673.405060 meters looking forward 0.000000 meters along route # Maximum depth: 1673.405060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.405060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101584; longitude = -173.758293; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1590.748696; finalDepth = 1623.405060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1623.40506 # Seafloor depth:-1673.405060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 106.162924 meters # Minimum depth: 1640.748696 meters looking forward 0.000000 meters along route # Maximum depth: 1640.748696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.748696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100883; longitude = -173.757300; captureRadius = 10; duration = 212; initialDepth = 1556.588360; finalDepth = 1590.748696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1590.748696 # Seafloor depth:-1640.748696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 106.162924 meters # Minimum depth: 1606.588360 meters looking forward 0.000000 meters along route # Maximum depth: 1606.588360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.588360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100349; longitude = -173.756545; captureRadius = 10; duration = 212; initialDepth = 1506.474001; finalDepth = 1556.588360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1556.58836 # Seafloor depth:-1606.588360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 106.162924 meters # Minimum depth: 1556.474001 meters looking forward 0.000000 meters along route # Maximum depth: 1556.474001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.474001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099806; longitude = -173.755777; captureRadius = 10; duration = 212; initialDepth = 1467.480005; finalDepth = 1506.474001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1506.474001 # Seafloor depth:-1556.474001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 106.162924 meters # Minimum depth: 1517.480005 meters looking forward 0.000000 meters along route # Maximum depth: 1517.480005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.480005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099240; longitude = -173.754975; captureRadius = 10; duration = 212; initialDepth = 1454.571594; finalDepth = 1467.480005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1467.480005 # Seafloor depth:-1517.480005 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 106.162924 meters # Minimum depth: 1504.571594 meters looking forward 0.000000 meters along route # Maximum depth: 1504.571594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1454.571594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098692; longitude = -173.754199; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1490.865648; finalDepth = 1454.571594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1454.571594 # Seafloor depth:-1504.571594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 106.162924 meters # Minimum depth: 1540.865648 meters looking forward 0.000000 meters along route # Maximum depth: 1540.865648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.865648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097894; longitude = -173.754696; captureRadius = 10; duration = 212; initialDepth = 1543.537797; finalDepth = 1490.865648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1490.865648 # Seafloor depth:-1540.865648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 106.162924 meters # Minimum depth: 1597.518275 meters looking forward 0.000000 meters along route # Maximum depth: 1597.518275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.537797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097094; longitude = -173.755193; captureRadius = 10; duration = 212; initialDepth = 1599.328967; finalDepth = 1543.537797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9804775053617 # Actual altitude: 53.9804775053617 # Commanded vehicle depth:1543.53779749464 # Seafloor depth:-1597.518275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 215.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 106.162924 meters # Minimum depth: 1651.292870 meters looking forward 0.000000 meters along route # Maximum depth: 1651.292870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.328967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096248; longitude = -173.755719; captureRadius = 10; duration = 212; initialDepth = 1630.967621; finalDepth = 1599.328967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9804775053617 # Actual altitude: 53.9804775053617 # Commanded vehicle depth:1599.32896722339 # Seafloor depth:-1651.292870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 215.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 106.162924 meters # Minimum depth: 1680.967621 meters looking forward 0.000000 meters along route # Maximum depth: 1680.967621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.967621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095467; longitude = -173.756204; captureRadius = 10; duration = 212; initialDepth = 1653.564057; finalDepth = 1630.967621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.963902776612 # Actual altitude: 51.963902776612 # Commanded vehicle depth:1630.967621 # Seafloor depth:-1680.967621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.18; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 106.162924 meters # Minimum depth: 1703.564057 meters looking forward 0.000000 meters along route # Maximum depth: 1703.564057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.564057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094654; longitude = -173.756710; captureRadius = 10; duration = 212; initialDepth = 1693.260912; finalDepth = 1653.564057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1653.564057 # Seafloor depth:-1703.564057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 106.162924 meters # Minimum depth: 1743.260912 meters looking forward 0.000000 meters along route # Maximum depth: 1743.260912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.260912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093840; longitude = -173.757216; captureRadius = 10; duration = 212; initialDepth = 1729.495575; finalDepth = 1693.260912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1693.260912 # Seafloor depth:-1743.260912 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 34 # Segment length 106.162924 meters # Minimum depth: 1779.495575 meters looking forward 0.000000 meters along route # Maximum depth: 1779.495575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.495575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093056; longitude = -173.757704; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1694.700134; finalDepth = 1729.495575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1729.495575 # Seafloor depth:-1779.495575 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 106.162924 meters # Minimum depth: 1744.700134 meters looking forward 0.000000 meters along route # Maximum depth: 1744.700134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.700134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092635; longitude = -173.757083; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1618.008872; finalDepth = 1694.700134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1694.700134 # Seafloor depth:-1744.700134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1668.008872 meters looking forward 0.000000 meters along route # Maximum depth: 1668.008872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.008872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093488; longitude = -173.755812; captureRadius = 10; duration = 212; initialDepth = 1566.689321; finalDepth = 1618.008872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1618.008872 # Seafloor depth:-1668.008872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1616.689321 meters looking forward 0.000000 meters along route # Maximum depth: 1616.689321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.689321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094050; longitude = -173.754975; captureRadius = 10; duration = 212; initialDepth = 1505.869078; finalDepth = 1566.689321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1566.689321 # Seafloor depth:-1616.689321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1555.869078 meters looking forward 0.000000 meters along route # Maximum depth: 1555.869078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.869078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094563; longitude = -173.754210; captureRadius = 10; duration = 212; initialDepth = 1441.841437; finalDepth = 1505.869078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1505.869078 # Seafloor depth:-1555.869078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1491.841437 meters looking forward 0.000000 meters along route # Maximum depth: 1491.841437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.841437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095111; longitude = -173.753393; captureRadius = 10; duration = 212; initialDepth = 1343.593755; finalDepth = 1441.841437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1441.841437 # Seafloor depth:-1491.841437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1393.593755 meters looking forward 0.000000 meters along route # Maximum depth: 1393.593755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1343.593755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095673; longitude = -173.752556; captureRadius = 10; duration = 212; initialDepth = 1308.377758; finalDepth = 1343.593755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1343.593755 # Seafloor depth:-1393.593755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1358.377758 meters looking forward 0.000000 meters along route # Maximum depth: 1358.377758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.377758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096190; longitude = -173.751785; captureRadius = 10; duration = 212; initialDepth = 1307.516347; finalDepth = 1308.377758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1308.377758 # Seafloor depth:-1358.377758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1357.516347 meters looking forward 0.000000 meters along route # Maximum depth: 1357.516347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.516347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096734; longitude = -173.750974; captureRadius = 10; duration = 212; initialDepth = 1354.103691; finalDepth = 1307.516347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1307.516347 # Seafloor depth:-1357.516347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1404.103691 meters looking forward 0.000000 meters along route # Maximum depth: 1404.103691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.103691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097296; longitude = -173.750137; captureRadius = 10; duration = 212; initialDepth = 1370.281022; finalDepth = 1354.103691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1354.103691 # Seafloor depth:-1404.103691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1420.281022 meters looking forward 0.000000 meters along route # Maximum depth: 1420.281022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.281022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097818; longitude = -173.749360; captureRadius = 10; duration = 212; initialDepth = 1375.182246; finalDepth = 1370.281022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1370.281022 # Seafloor depth:-1420.281022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1425.182246 meters looking forward 0.000000 meters along route # Maximum depth: 1425.182246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.182246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098360; longitude = -173.748551; captureRadius = 10; duration = 212; initialDepth = 1395.863104; finalDepth = 1375.182246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1375.182246 # Seafloor depth:-1425.182246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1445.863104 meters looking forward 0.000000 meters along route # Maximum depth: 1445.863104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.863104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098919; longitude = -173.747718; captureRadius = 10; duration = 212; initialDepth = 1448.070568; finalDepth = 1395.863104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1395.863104 # Seafloor depth:-1445.863104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1504.679351 meters looking forward 0.000000 meters along route # Maximum depth: 1504.679351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.070568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099445; longitude = -173.746935; captureRadius = 10; duration = 212; initialDepth = 1501.916455; finalDepth = 1448.070568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6087826679659 # Actual altitude: 56.6087826679659 # Commanded vehicle depth:1448.07056833203 # Seafloor depth:-1504.679351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.97; MB_Bottom_Detect_Filter_Max_Range = 226.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1558.273457 meters looking forward 0.000000 meters along route # Maximum depth: 1558.273457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.916455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099987; longitude = -173.746126; captureRadius = 10; duration = 212; initialDepth = 1556.987272; finalDepth = 1501.916455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6087826679659 # Actual altitude: 56.6087826679659 # Commanded vehicle depth:1501.9164545145 # Seafloor depth:-1558.273457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.97; MB_Bottom_Detect_Filter_Max_Range = 226.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1612.010252 meters looking forward 0.000000 meters along route # Maximum depth: 1612.010252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.987272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100542; longitude = -173.745300; captureRadius = 10; duration = 212; initialDepth = 1612.760760; finalDepth = 1556.987272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3570024855012 # Actual altitude: 56.3570024855012 # Commanded vehicle depth:1556.98727246283 # Seafloor depth:-1612.010252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.81; MB_Bottom_Detect_Filter_Max_Range = 225.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.162924 meters # Minimum depth: 1668.156861 meters looking forward 0.000000 meters along route # Maximum depth: 1668.156861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.760760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101104; longitude = -173.744462; captureRadius = 10; duration = 212; initialDepth = 1666.477759; finalDepth = 1612.760760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3961013792646 # Actual altitude: 55.3961013792646 # Commanded vehicle depth:1612.76075962074 # Seafloor depth:-1668.156861 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.24; MB_Bottom_Detect_Filter_Max_Range = 221.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.58; 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 32 # Segment length 106.162924 meters # Minimum depth: 1723.234375 meters looking forward 0.000000 meters along route # Maximum depth: 1723.234375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.477759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101645; longitude = -173.743656; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1672.961445; finalDepth = 1666.477759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7566156947917 # Actual altitude: 56.7566156947917 # Commanded vehicle depth:1666.47775930521 # Seafloor depth:-1723.234375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.05; MB_Bottom_Detect_Filter_Max_Range = 227.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.162924 meters # Minimum depth: 1722.961445 meters looking forward 0.000000 meters along route # Maximum depth: 1722.961445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.961445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101225; longitude = -173.743067; captureRadius = 10; duration = 212; initialDepth = 1679.082703; finalDepth = 1672.961445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 56.7566156947917 # Actual altitude: 56.7566156947917 # Commanded vehicle depth:1672.961445 # Seafloor depth:-1722.961445 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.05; MB_Bottom_Detect_Filter_Max_Range = 227.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 106.162924 meters # Minimum depth: 1729.082703 meters looking forward 0.000000 meters along route # Maximum depth: 1729.082703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.082703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100650; longitude = -173.742261; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1644.028421; finalDepth = 1679.082703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1679.082703 # Seafloor depth:-1729.082703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1694.028421 meters looking forward 0.000000 meters along route # Maximum depth: 1694.028421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.028421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099987; longitude = -173.742457; captureRadius = 10; duration = 212; initialDepth = 1588.659270; finalDepth = 1644.028421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1644.028421 # Seafloor depth:-1694.028421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1638.659270 meters looking forward 0.000000 meters along route # Maximum depth: 1638.659270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.659270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099083; longitude = -173.742724; captureRadius = 10; duration = 212; initialDepth = 1541.008772; finalDepth = 1588.659270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1588.65927 # Seafloor depth:-1638.659270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1591.008772 meters looking forward 0.000000 meters along route # Maximum depth: 1591.008772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.008772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098179; longitude = -173.742992; captureRadius = 10; duration = 212; initialDepth = 1486.042282; finalDepth = 1541.008772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1541.008772 # Seafloor depth:-1591.008772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1536.042282 meters looking forward 0.000000 meters along route # Maximum depth: 1536.042282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.042282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097275; longitude = -173.743259; captureRadius = 10; duration = 212; initialDepth = 1452.595557; finalDepth = 1486.042282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1486.042282 # Seafloor depth:-1536.042282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1502.595557 meters looking forward 0.000000 meters along route # Maximum depth: 1502.595557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.595557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096352; longitude = -173.743532; captureRadius = 10; duration = 212; initialDepth = 1414.324769; finalDepth = 1452.595557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1452.595557 # Seafloor depth:-1502.595557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1464.324769 meters looking forward 0.000000 meters along route # Maximum depth: 1464.324769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1414.324769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095467; longitude = -173.743794; captureRadius = 10; duration = 212; initialDepth = 1378.293427; finalDepth = 1414.324769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1414.324769 # Seafloor depth:-1464.324769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1428.293427 meters looking forward 0.000000 meters along route # Maximum depth: 1428.293427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.293427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094563; longitude = -173.744061; captureRadius = 10; duration = 212; initialDepth = 1361.188437; finalDepth = 1378.293427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1378.293427 # Seafloor depth:-1428.293427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1411.188437 meters looking forward 0.000000 meters along route # Maximum depth: 1411.188437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.188437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093659; longitude = -173.744329; captureRadius = 10; duration = 212; initialDepth = 1294.130778; finalDepth = 1361.188437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1361.188437 # Seafloor depth:-1411.188437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1344.130778 meters looking forward 0.000000 meters along route # Maximum depth: 1344.130778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1294.130778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092755; longitude = -173.744596; captureRadius = 10; duration = 212; initialDepth = 1279.246861; finalDepth = 1294.130778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1294.130778 # Seafloor depth:-1344.130778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1329.246861 meters looking forward 0.000000 meters along route # Maximum depth: 1329.246861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1279.246861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091851; longitude = -173.744863; captureRadius = 10; duration = 212; initialDepth = 1332.312696; finalDepth = 1279.246861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1279.246861 # Seafloor depth:-1329.246861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1398.316188 meters looking forward 0.000000 meters along route # Maximum depth: 1398.316188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1332.312696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090947; longitude = -173.745131; captureRadius = 10; duration = 212; initialDepth = 1385.378555; finalDepth = 1332.312696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0034921651081 # Actual altitude: 66.0034921651081 # Commanded vehicle depth:1332.31269583489 # Seafloor depth:-1398.316188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.60; MB_Bottom_Detect_Filter_Max_Range = 264.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1457.729623 meters looking forward 0.000000 meters along route # Maximum depth: 1457.729623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.378555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090043; longitude = -173.745398; captureRadius = 10; duration = 212; initialDepth = 1439.706980; finalDepth = 1385.378555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3510678729942 # Actual altitude: 72.3510678729942 # Commanded vehicle depth:1385.37855512701 # Seafloor depth:-1457.729623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.41; MB_Bottom_Detect_Filter_Max_Range = 289.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1523.769309 meters looking forward 0.000000 meters along route # Maximum depth: 1523.769309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.706980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089118; longitude = -173.745672; captureRadius = 10; duration = 212; initialDepth = 1491.510348; finalDepth = 1439.706980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.062329266058 # Actual altitude: 84.062329266058 # Commanded vehicle depth:1439.70697973394 # Seafloor depth:-1523.769309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 336.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.44; MB_Bottom_Detect_Filter_Max_Range = 336.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.162924 meters # Minimum depth: 1581.661868 meters looking forward 0.000000 meters along route # Maximum depth: 1581.661868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.510348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088235; longitude = -173.745933; captureRadius = 10; duration = 212; initialDepth = 1544.576282; finalDepth = 1491.510348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.1515198980551 # Actual altitude: 90.1515198980551 # Commanded vehicle depth:1491.51034810194 # Seafloor depth:-1581.661868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 54.09; 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 31 # Segment length 106.162924 meters # Minimum depth: 1637.415164 meters looking forward 0.000000 meters along route # Maximum depth: 1637.415164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.576282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087331; longitude = -173.746200; captureRadius = 10; duration = 212; initialDepth = 1597.642241; finalDepth = 1544.576282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.8388817057023 # Actual altitude: 92.8388817057023 # Commanded vehicle depth:1544.5762822943 # Seafloor depth:-1637.415164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.70; 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 31 # Segment length 106.162924 meters # Minimum depth: 1689.964455 meters looking forward 0.000000 meters along route # Maximum depth: 1689.964455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.642241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086427; longitude = -173.746468; captureRadius = 10; duration = 212; initialDepth = 1648.946838; finalDepth = 1597.642241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.8388817057023 # Actual altitude: 92.8388817057023 # Commanded vehicle depth:1597.64224094387 # Seafloor depth:-1689.964455 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.70; 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; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 106.162924 meters # Minimum depth: 1742.197845 meters looking forward 0.000000 meters along route # Maximum depth: 1742.197845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.946838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085553; longitude = -173.746726; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1704.707752; finalDepth = 1648.946838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 93.2510070835704 # Actual altitude: 93.2510070835704 # Commanded vehicle depth:1648.94683791643 # Seafloor depth:-1742.197845 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.95; 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 29 # Segment length 106.162924 meters # Minimum depth: 1781.447144 meters looking forward 0.000000 meters along route # Maximum depth: 1781.447144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.707752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084950; longitude = -173.745920; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1686.852650; finalDepth = 1704.707752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.2510070835704 # Actual altitude: 93.2510070835704 # Commanded vehicle depth:1704.70775151507 # Seafloor depth:-1781.447144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 55.95; 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 29 # Segment length 106.162924 meters # Minimum depth: 1736.852650 meters looking forward 0.000000 meters along route # Maximum depth: 1736.852650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.852650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085704; longitude = -173.745378; captureRadius = 10; duration = 212; initialDepth = 1647.737393; finalDepth = 1686.852650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7393924849334 # Actual altitude: 76.7393924849334 # Commanded vehicle depth:1686.85265 # Seafloor depth:-1736.852650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.04; MB_Bottom_Detect_Filter_Max_Range = 306.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1697.737393 meters looking forward 0.000000 meters along route # Maximum depth: 1697.737393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.737393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086460; longitude = -173.744835; captureRadius = 10; duration = 212; initialDepth = 1590.228915; finalDepth = 1647.737393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1647.737393 # Seafloor depth:-1697.737393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1640.228915 meters looking forward 0.000000 meters along route # Maximum depth: 1640.228915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.228915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087241; longitude = -173.744273; captureRadius = 10; duration = 212; initialDepth = 1535.346943; finalDepth = 1590.228915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1590.228915 # Seafloor depth:-1640.228915 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1585.346943 meters looking forward 0.000000 meters along route # Maximum depth: 1585.346943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.346943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088012; longitude = -173.743718; captureRadius = 10; duration = 212; initialDepth = 1480.209562; finalDepth = 1535.346943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1535.346943 # Seafloor depth:-1585.346943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1530.209562 meters looking forward 0.000000 meters along route # Maximum depth: 1530.209562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.209562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088788; longitude = -173.743160; captureRadius = 10; duration = 212; initialDepth = 1410.944376; finalDepth = 1480.209562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1480.209562 # Seafloor depth:-1530.209562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1460.944376 meters looking forward 0.000000 meters along route # Maximum depth: 1460.944376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.944376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089591; longitude = -173.742583; captureRadius = 10; duration = 212; initialDepth = 1395.916410; finalDepth = 1410.944376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1410.944376 # Seafloor depth:-1460.944376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1445.916410 meters looking forward 0.000000 meters along route # Maximum depth: 1445.916410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.916410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090341; longitude = -173.742044; captureRadius = 10; duration = 212; initialDepth = 1441.909589; finalDepth = 1395.916410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1395.91641 # Seafloor depth:-1445.916410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1491.909589 meters looking forward 0.000000 meters along route # Maximum depth: 1491.909589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.909589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091128; longitude = -173.741478; captureRadius = 10; duration = 212; initialDepth = 1493.918173; finalDepth = 1441.909589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1441.909589 # Seafloor depth:-1491.909589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1543.918173 meters looking forward 0.000000 meters along route # Maximum depth: 1543.918173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.918173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091894; longitude = -173.740927; captureRadius = 10; duration = 212; initialDepth = 1547.341596; finalDepth = 1493.918173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1493.918173 # Seafloor depth:-1543.918173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1617.536014 meters looking forward 0.000000 meters along route # Maximum depth: 1617.536014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1547.341596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092670; longitude = -173.740369; captureRadius = 10; duration = 212; initialDepth = 1600.764933; finalDepth = 1547.341596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1944181546078 # Actual altitude: 70.1944181546078 # Commanded vehicle depth:1547.34159584539 # Seafloor depth:-1617.536014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.12; MB_Bottom_Detect_Filter_Max_Range = 280.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1673.314822 meters looking forward 0.000000 meters along route # Maximum depth: 1673.314822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.764933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093446; longitude = -173.739811; captureRadius = 10; duration = 212; initialDepth = 1652.755417; finalDepth = 1600.764933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5498889094868 # Actual altitude: 72.5498889094868 # Commanded vehicle depth:1600.76493309051 # Seafloor depth:-1673.314822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.53; MB_Bottom_Detect_Filter_Max_Range = 290.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.162924 meters # Minimum depth: 1728.107883 meters looking forward 0.000000 meters along route # Maximum depth: 1728.107883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.755417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094202; longitude = -173.739268; captureRadius = 10; duration = 212; initialDepth = 1704.605893; finalDepth = 1652.755417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3524659667564 # Actual altitude: 75.3524659667564 # Commanded vehicle depth:1652.75541703324 # Seafloor depth:-1728.107883 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.21; MB_Bottom_Detect_Filter_Max_Range = 301.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.41; 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 28 # Segment length 106.162924 meters # Minimum depth: 1756.109650 meters looking forward 0.000000 meters along route # Maximum depth: 1756.109650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.605893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094955; longitude = -173.738726; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1643.917440; finalDepth = 1704.605893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3524659667564 # Actual altitude: 75.3524659667564 # Commanded vehicle depth:1704.60589306622 # Seafloor depth:-1756.109650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.21; MB_Bottom_Detect_Filter_Max_Range = 301.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1693.917440 meters looking forward 0.000000 meters along route # Maximum depth: 1693.917440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.917440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095829; longitude = -173.740037; captureRadius = 10; duration = 212; initialDepth = 1603.952014; finalDepth = 1643.917440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5037569337817 # Actual altitude: 51.5037569337817 # Commanded vehicle depth:1643.91744 # Seafloor depth:-1693.917440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.90; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1653.952014 meters looking forward 0.000000 meters along route # Maximum depth: 1653.952014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.952014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096371; longitude = -173.740851; captureRadius = 10; duration = 212; initialDepth = 1575.372858; finalDepth = 1603.952014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1603.952014 # Seafloor depth:-1653.952014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1625.372858 meters looking forward 0.000000 meters along route # Maximum depth: 1625.372858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.372858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096918; longitude = -173.741672; captureRadius = 10; duration = 212; initialDepth = 1540.654196; finalDepth = 1575.372858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1575.372858 # Seafloor depth:-1625.372858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1590.654196 meters looking forward 0.000000 meters along route # Maximum depth: 1590.654196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.654196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097476; longitude = -173.742509; captureRadius = 10; duration = 212; initialDepth = 1516.057629; finalDepth = 1540.654196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1540.654196 # Seafloor depth:-1590.654196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1566.057629 meters looking forward 0.000000 meters along route # Maximum depth: 1566.057629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.057629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097998; longitude = -173.743292; captureRadius = 10; duration = 212; initialDepth = 1511.767359; finalDepth = 1516.057629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1516.057629 # Seafloor depth:-1566.057629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1561.767359 meters looking forward 0.000000 meters along route # Maximum depth: 1561.767359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.767359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098541; longitude = -173.744106; captureRadius = 10; duration = 212; initialDepth = 1504.978717; finalDepth = 1511.767359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1511.767359 # Seafloor depth:-1561.767359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1554.978717 meters looking forward 0.000000 meters along route # Maximum depth: 1554.978717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.978717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099088; longitude = -173.744928; captureRadius = 10; duration = 212; initialDepth = 1503.990565; finalDepth = 1504.978717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1504.978717 # Seafloor depth:-1554.978717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1553.990565 meters looking forward 0.000000 meters along route # Maximum depth: 1553.990565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.990565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099647; longitude = -173.745765; captureRadius = 10; duration = 212; initialDepth = 1503.435878; finalDepth = 1503.990565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1503.990565 # Seafloor depth:-1553.990565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1553.435878 meters looking forward 0.000000 meters along route # Maximum depth: 1553.435878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.435878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100168; longitude = -173.746547; captureRadius = 10; duration = 212; initialDepth = 1482.975232; finalDepth = 1503.435878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1503.435878 # Seafloor depth:-1553.435878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1532.975232 meters looking forward 0.000000 meters along route # Maximum depth: 1532.975232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.975232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100711; longitude = -173.747361; captureRadius = 10; duration = 212; initialDepth = 1498.443691; finalDepth = 1482.975232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1482.975232 # Seafloor depth:-1532.975232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1548.443691 meters looking forward 0.000000 meters along route # Maximum depth: 1548.443691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.443691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101259; longitude = -173.748184; captureRadius = 10; duration = 212; initialDepth = 1554.096421; finalDepth = 1498.443691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1498.443691 # Seafloor depth:-1548.443691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1612.845323 meters looking forward 0.000000 meters along route # Maximum depth: 1612.845323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.096421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101817; longitude = -173.749021; captureRadius = 10; duration = 212; initialDepth = 1606.052989; finalDepth = 1554.096421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7489018617023 # Actual altitude: 58.7489018617023 # Commanded vehicle depth:1554.0964211383 # Seafloor depth:-1612.845323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.25; MB_Bottom_Detect_Filter_Max_Range = 235.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.162924 meters # Minimum depth: 1671.925871 meters looking forward 0.000000 meters along route # Maximum depth: 1671.925871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.052989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102338; longitude = -173.749802; captureRadius = 10; duration = 212; initialDepth = 1657.137696; finalDepth = 1606.052989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.8728819703165 # Actual altitude: 65.8728819703165 # Commanded vehicle depth:1606.05298902968 # Seafloor depth:-1671.925871 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.52; MB_Bottom_Detect_Filter_Max_Range = 263.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.49; 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 27 # Segment length 106.162924 meters # Minimum depth: 1747.023865 meters looking forward 0.000000 meters along route # Maximum depth: 1747.023865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.137696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102850; longitude = -173.750571; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1652.567494; finalDepth = 1657.137696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8861692868463 # Actual altitude: 89.8861692868463 # Commanded vehicle depth:1657.13769571315 # Seafloor depth:-1747.023865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 53.93; 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 27 # Segment length 106.162924 meters # Minimum depth: 1702.567494 meters looking forward 0.000000 meters along route # Maximum depth: 1702.567494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.567494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102067; longitude = -173.751068; captureRadius = 10; duration = 212; initialDepth = 1620.696729; finalDepth = 1652.567494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8861692868463 # Actual altitude: 89.8861692868463 # Commanded vehicle depth:1652.567494 # Seafloor depth:-1702.567494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 53.93; 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 27 # Segment length 106.162924 meters # Minimum depth: 1670.696729 meters looking forward 0.000000 meters along route # Maximum depth: 1670.696729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.696729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101253; longitude = -173.751584; captureRadius = 10; duration = 212; initialDepth = 1577.895324; finalDepth = 1620.696729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1620.696729 # Seafloor depth:-1670.696729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1627.895324 meters looking forward 0.000000 meters along route # Maximum depth: 1627.895324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.895324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100439; longitude = -173.752100; captureRadius = 10; duration = 212; initialDepth = 1507.765310; finalDepth = 1577.895324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1577.895324 # Seafloor depth:-1627.895324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1557.765310 meters looking forward 0.000000 meters along route # Maximum depth: 1557.765310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.765310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099626; longitude = -173.752615; captureRadius = 10; duration = 212; initialDepth = 1457.952249; finalDepth = 1507.765310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1507.76531 # Seafloor depth:-1557.765310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1507.952249 meters looking forward 0.000000 meters along route # Maximum depth: 1507.952249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.952249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098812; longitude = -173.753131; captureRadius = 10; duration = 212; initialDepth = 1422.129890; finalDepth = 1457.952249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1457.952249 # Seafloor depth:-1507.952249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1472.129890 meters looking forward 0.000000 meters along route # Maximum depth: 1472.129890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.129890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097959; longitude = -173.753672; captureRadius = 10; duration = 212; initialDepth = 1473.430989; finalDepth = 1422.129890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1422.12989 # Seafloor depth:-1472.129890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1528.509544 meters looking forward 0.000000 meters along route # Maximum depth: 1528.509544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.430989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097185; longitude = -173.754163; captureRadius = 10; duration = 212; initialDepth = 1527.892889; finalDepth = 1473.430989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0785549195821 # Actual altitude: 55.0785549195821 # Commanded vehicle depth:1473.43098908042 # Seafloor depth:-1528.509544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 220.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1577.892889 meters looking forward 0.000000 meters along route # Maximum depth: 1577.892889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.892889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096345; longitude = -173.754696; captureRadius = 10; duration = 212; initialDepth = 1570.678092; finalDepth = 1527.892889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0785549195821 # Actual altitude: 55.0785549195821 # Commanded vehicle depth:1527.892889 # Seafloor depth:-1577.892889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.05; MB_Bottom_Detect_Filter_Max_Range = 220.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1620.678092 meters looking forward 0.000000 meters along route # Maximum depth: 1620.678092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1570.678092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095558; longitude = -173.755195; captureRadius = 10; duration = 212; initialDepth = 1594.352803; finalDepth = 1570.678092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1570.678092 # Seafloor depth:-1620.678092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.162924 meters # Minimum depth: 1644.352803 meters looking forward 0.000000 meters along route # Maximum depth: 1644.352803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.352803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094731; longitude = -173.755719; captureRadius = 10; duration = 212; initialDepth = 1639.533081; finalDepth = 1594.352803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1594.352803 # Seafloor depth:-1644.352803 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 106.162924 meters # Minimum depth: 1689.533081 meters looking forward 0.000000 meters along route # Maximum depth: 1689.533081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.533081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093900; longitude = -173.756246; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1593.750287; finalDepth = 1639.533081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1639.533081 # Seafloor depth:-1689.533081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1643.750287 meters looking forward 0.000000 meters along route # Maximum depth: 1643.750287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.750287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093359; longitude = -173.755440; captureRadius = 10; duration = 212; initialDepth = 1549.269660; finalDepth = 1593.750287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1593.750287 # Seafloor depth:-1643.750287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1599.269660 meters looking forward 0.000000 meters along route # Maximum depth: 1599.269660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.269660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092846; longitude = -173.754674; captureRadius = 10; duration = 212; initialDepth = 1517.179260; finalDepth = 1549.269660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1549.26966 # Seafloor depth:-1599.269660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1567.179260 meters looking forward 0.000000 meters along route # Maximum depth: 1567.179260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.179260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092298; longitude = -173.753858; captureRadius = 10; duration = 212; initialDepth = 1494.760548; finalDepth = 1517.179260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1517.17926 # Seafloor depth:-1567.179260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1544.760548 meters looking forward 0.000000 meters along route # Maximum depth: 1544.760548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.760548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091737; longitude = -173.753021; captureRadius = 10; duration = 212; initialDepth = 1473.575647; finalDepth = 1494.760548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1494.760548 # Seafloor depth:-1544.760548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1523.575647 meters looking forward 0.000000 meters along route # Maximum depth: 1523.575647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.575647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091218; longitude = -173.752248; captureRadius = 10; duration = 212; initialDepth = 1462.024133; finalDepth = 1473.575647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1473.575647 # Seafloor depth:-1523.575647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1512.024133 meters looking forward 0.000000 meters along route # Maximum depth: 1512.024133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.024133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090676; longitude = -173.751439; captureRadius = 10; duration = 212; initialDepth = 1468.375571; finalDepth = 1462.024133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1462.024133 # Seafloor depth:-1512.024133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1518.375571 meters looking forward 0.000000 meters along route # Maximum depth: 1518.375571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.375571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090114; longitude = -173.750602; captureRadius = 10; duration = 212; initialDepth = 1476.173134; finalDepth = 1468.375571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1468.375571 # Seafloor depth:-1518.375571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1526.173134 meters looking forward 0.000000 meters along route # Maximum depth: 1526.173134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.173134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089591; longitude = -173.749822; captureRadius = 10; duration = 212; initialDepth = 1481.645781; finalDepth = 1476.173134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1476.173134 # Seafloor depth:-1526.173134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1531.645781 meters looking forward 0.000000 meters along route # Maximum depth: 1531.645781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.645781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089049; longitude = -173.749013; captureRadius = 10; duration = 212; initialDepth = 1504.797894; finalDepth = 1481.645781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1481.645781 # Seafloor depth:-1531.645781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1554.797894 meters looking forward 0.000000 meters along route # Maximum depth: 1554.797894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.797894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088492; longitude = -173.748184; captureRadius = 10; duration = 212; initialDepth = 1542.112652; finalDepth = 1504.797894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1504.797894 # Seafloor depth:-1554.797894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1592.112652 meters looking forward 0.000000 meters along route # Maximum depth: 1592.112652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.112652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087930; longitude = -173.747346; captureRadius = 10; duration = 212; initialDepth = 1582.374265; finalDepth = 1542.112652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1542.112652 # Seafloor depth:-1592.112652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.162924 meters # Minimum depth: 1632.374265 meters looking forward 0.000000 meters along route # Maximum depth: 1632.374265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.374265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087369; longitude = -173.746509; captureRadius = 10; duration = 212; initialDepth = 1615.926331; finalDepth = 1582.374265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1582.374265 # Seafloor depth:-1632.374265 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 25 # Segment length 106.162924 meters # Minimum depth: 1665.926331 meters looking forward 0.000000 meters along route # Maximum depth: 1665.926331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.926331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086849; longitude = -173.745734; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1578.551957; finalDepth = 1615.926331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1615.926331 # Seafloor depth:-1665.926331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1628.551957 meters looking forward 0.000000 meters along route # Maximum depth: 1628.551957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.551957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087602; longitude = -173.745191; captureRadius = 10; duration = 212; initialDepth = 1504.922852; finalDepth = 1578.551957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1578.551957 # Seafloor depth:-1628.551957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1554.922852 meters looking forward 0.000000 meters along route # Maximum depth: 1554.922852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.922852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088354; longitude = -173.744648; captureRadius = 10; duration = 212; initialDepth = 1459.272595; finalDepth = 1504.922852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1504.922852 # Seafloor depth:-1554.922852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1509.272595 meters looking forward 0.000000 meters along route # Maximum depth: 1509.272595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.272595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089139; longitude = -173.744082; captureRadius = 10; duration = 212; initialDepth = 1404.373645; finalDepth = 1459.272595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1459.272595 # Seafloor depth:-1509.272595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1454.373645 meters looking forward 0.000000 meters along route # Maximum depth: 1454.373645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.373645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089902; longitude = -173.743532; captureRadius = 10; duration = 212; initialDepth = 1357.297719; finalDepth = 1404.373645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1404.373645 # Seafloor depth:-1454.373645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1407.297719 meters looking forward 0.000000 meters along route # Maximum depth: 1407.297719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.297719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090676; longitude = -173.742974; captureRadius = 10; duration = 212; initialDepth = 1393.203204; finalDepth = 1357.297719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1357.297719 # Seafloor depth:-1407.297719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1443.203204 meters looking forward 0.000000 meters along route # Maximum depth: 1443.203204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.203204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091450; longitude = -173.742416; captureRadius = 10; duration = 212; initialDepth = 1446.519694; finalDepth = 1393.203204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1393.203204 # Seafloor depth:-1443.203204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1500.178027 meters looking forward 0.000000 meters along route # Maximum depth: 1500.178027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.519694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092224; longitude = -173.741858; captureRadius = 10; duration = 212; initialDepth = 1499.836100; finalDepth = 1446.519694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6583327299907 # Actual altitude: 53.6583327299907 # Commanded vehicle depth:1446.51969427001 # Seafloor depth:-1500.178027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 214.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1568.781842 meters looking forward 0.000000 meters along route # Maximum depth: 1568.781842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.836100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092998; longitude = -173.741299; captureRadius = 10; duration = 212; initialDepth = 1551.611231; finalDepth = 1499.836100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9457420412034 # Actual altitude: 68.9457420412034 # Commanded vehicle depth:1499.8360999588 # Seafloor depth:-1568.781842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.37; MB_Bottom_Detect_Filter_Max_Range = 275.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.162924 meters # Minimum depth: 1629.870389 meters looking forward 0.000000 meters along route # Maximum depth: 1629.870389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.611231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093750; longitude = -173.740757; captureRadius = 10; duration = 212; initialDepth = 1603.513385; finalDepth = 1551.611231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 78.2591580635249 # Actual altitude: 78.2591580635249 # Commanded vehicle depth:1551.61123093648 # Seafloor depth:-1629.870389 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.96; MB_Bottom_Detect_Filter_Max_Range = 313.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 106.162924 meters # Minimum depth: 1671.092102 meters looking forward 0.000000 meters along route # Maximum depth: 1671.092102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.513385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094503; longitude = -173.740214; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1549.574265; finalDepth = 1603.513385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2591580635249 # Actual altitude: 78.2591580635249 # Commanded vehicle depth:1603.51338507761 # Seafloor depth:-1671.092102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.96; MB_Bottom_Detect_Filter_Max_Range = 313.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1599.574265 meters looking forward 0.000000 meters along route # Maximum depth: 1599.574265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.574265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095377; longitude = -173.741514; captureRadius = 10; duration = 212; initialDepth = 1507.112111; finalDepth = 1549.574265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5787169223872 # Actual altitude: 67.5787169223872 # Commanded vehicle depth:1549.574265 # Seafloor depth:-1599.574265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.55; MB_Bottom_Detect_Filter_Max_Range = 270.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1557.112111 meters looking forward 0.000000 meters along route # Maximum depth: 1557.112111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.112111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095921; longitude = -173.742323; captureRadius = 10; duration = 212; initialDepth = 1480.586814; finalDepth = 1507.112111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1507.112111 # Seafloor depth:-1557.112111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1530.586814 meters looking forward 0.000000 meters along route # Maximum depth: 1530.586814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.586814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096484; longitude = -173.743160; captureRadius = 10; duration = 212; initialDepth = 1443.409776; finalDepth = 1480.586814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1480.586814 # Seafloor depth:-1530.586814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1493.409776 meters looking forward 0.000000 meters along route # Maximum depth: 1493.409776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.409776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097004; longitude = -173.743934; captureRadius = 10; duration = 212; initialDepth = 1428.557896; finalDepth = 1443.409776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1443.409776 # Seafloor depth:-1493.409776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1478.557896 meters looking forward 0.000000 meters along route # Maximum depth: 1478.557896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.557896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097547; longitude = -173.744741; captureRadius = 10; duration = 212; initialDepth = 1429.676483; finalDepth = 1428.557896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1428.557896 # Seafloor depth:-1478.557896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1479.676483 meters looking forward 0.000000 meters along route # Maximum depth: 1479.676483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.676483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098110; longitude = -173.745579; captureRadius = 10; duration = 212; initialDepth = 1430.384310; finalDepth = 1429.676483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1429.676483 # Seafloor depth:-1479.676483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1480.384310 meters looking forward 0.000000 meters along route # Maximum depth: 1480.384310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1430.384310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098631; longitude = -173.746354; captureRadius = 10; duration = 212; initialDepth = 1430.492335; finalDepth = 1430.384310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1430.38431 # Seafloor depth:-1480.384310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1480.492335 meters looking forward 0.000000 meters along route # Maximum depth: 1480.492335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1430.492335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099174; longitude = -173.747161; captureRadius = 10; duration = 212; initialDepth = 1420.304842; finalDepth = 1430.492335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1430.492335 # Seafloor depth:-1480.492335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1470.304842 meters looking forward 0.000000 meters along route # Maximum depth: 1470.304842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.304842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099736; longitude = -173.747997; captureRadius = 10; duration = 212; initialDepth = 1463.912990; finalDepth = 1420.304842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1420.304842 # Seafloor depth:-1470.304842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1513.912990 meters looking forward 0.000000 meters along route # Maximum depth: 1513.912990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.912990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100299; longitude = -173.748835; captureRadius = 10; duration = 212; initialDepth = 1519.722008; finalDepth = 1463.912990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1463.91299 # Seafloor depth:-1513.912990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.162924 meters # Minimum depth: 1582.699246 meters looking forward 0.000000 meters along route # Maximum depth: 1582.699246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.722008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100862; longitude = -173.749672; captureRadius = 10; duration = 212; initialDepth = 1573.446666; finalDepth = 1519.722008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9772375951075 # Actual altitude: 62.9772375951075 # Commanded vehicle depth:1519.72200840489 # Seafloor depth:-1582.699246 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.79; MB_Bottom_Detect_Filter_Max_Range = 251.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.91; 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 23 # Segment length 106.162924 meters # Minimum depth: 1654.447083 meters looking forward 0.000000 meters along route # Maximum depth: 1654.447083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.446666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101404; longitude = -173.750478; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1549.442045; finalDepth = 1573.446666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0004167432814 # Actual altitude: 81.0004167432814 # Commanded vehicle depth:1573.44666625672 # Seafloor depth:-1654.447083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.60; MB_Bottom_Detect_Filter_Max_Range = 324.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.162924 meters # Minimum depth: 1599.442045 meters looking forward 0.000000 meters along route # Maximum depth: 1599.442045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.442045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100078; longitude = -173.751376; captureRadius = 10; duration = 212; initialDepth = 1497.016606; finalDepth = 1549.442045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.0004167432814 # Actual altitude: 81.0004167432814 # Commanded vehicle depth:1549.442045 # Seafloor depth:-1599.442045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.60; MB_Bottom_Detect_Filter_Max_Range = 324.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.162924 meters # Minimum depth: 1547.016606 meters looking forward 0.000000 meters along route # Maximum depth: 1547.016606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.016606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099297; longitude = -173.751905; captureRadius = 10; duration = 212; initialDepth = 1422.155238; finalDepth = 1497.016606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1497.016606 # Seafloor depth:-1547.016606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.162924 meters # Minimum depth: 1472.155238 meters looking forward 0.000000 meters along route # Maximum depth: 1472.155238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.155238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098541; longitude = -173.752416; captureRadius = 10; duration = 212; initialDepth = 1385.994063; finalDepth = 1422.155238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1422.155238 # Seafloor depth:-1472.155238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.162924 meters # Minimum depth: 1435.994063 meters looking forward 0.000000 meters along route # Maximum depth: 1435.994063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.994063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097727; longitude = -173.752967; captureRadius = 10; duration = 212; initialDepth = 1438.362021; finalDepth = 1385.994063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1385.994063 # Seafloor depth:-1435.994063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.162924 meters # Minimum depth: 1488.362021 meters looking forward 0.000000 meters along route # Maximum depth: 1488.362021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.362021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096914; longitude = -173.753518; captureRadius = 10; duration = 212; initialDepth = 1481.808995; finalDepth = 1438.362021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1438.362021 # Seafloor depth:-1488.362021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.162924 meters # Minimum depth: 1531.808995 meters looking forward 0.000000 meters along route # Maximum depth: 1531.808995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.808995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096100; longitude = -173.754069; captureRadius = 10; duration = 212; initialDepth = 1527.394742; finalDepth = 1481.808995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1481.808995 # Seafloor depth:-1531.808995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 106.162924 meters # Minimum depth: 1577.394742 meters looking forward 0.000000 meters along route # Maximum depth: 1577.394742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.394742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095312; longitude = -173.754603; captureRadius = 10; duration = 212; initialDepth = 1562.114380; finalDepth = 1527.394742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1527.394742 # Seafloor depth:-1577.394742 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 106.162924 meters # Minimum depth: 1612.114380 meters looking forward 0.000000 meters along route # Maximum depth: 1612.114380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.114380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094533; longitude = -173.755130; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1507.692837; finalDepth = 1562.114380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1562.11438 # Seafloor depth:-1612.114380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1557.692837 meters looking forward 0.000000 meters along route # Maximum depth: 1557.692837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.692837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093745; longitude = -173.753951; captureRadius = 10; duration = 212; initialDepth = 1457.695555; finalDepth = 1507.692837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1507.692837 # Seafloor depth:-1557.692837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1507.695555 meters looking forward 0.000000 meters along route # Maximum depth: 1507.695555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.695555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093185; longitude = -173.753114; captureRadius = 10; duration = 212; initialDepth = 1422.418445; finalDepth = 1457.695555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1457.695555 # Seafloor depth:-1507.695555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1472.418445 meters looking forward 0.000000 meters along route # Maximum depth: 1472.418445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.418445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092665; longitude = -173.752335; captureRadius = 10; duration = 212; initialDepth = 1398.089857; finalDepth = 1422.418445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1422.418445 # Seafloor depth:-1472.418445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1448.089857 meters looking forward 0.000000 meters along route # Maximum depth: 1448.089857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.089857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092122; longitude = -173.751524; captureRadius = 10; duration = 212; initialDepth = 1388.864389; finalDepth = 1398.089857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1398.089857 # Seafloor depth:-1448.089857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1438.864389 meters looking forward 0.000000 meters along route # Maximum depth: 1438.864389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.864389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091569; longitude = -173.750695; captureRadius = 10; duration = 212; initialDepth = 1392.211883; finalDepth = 1388.864389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1388.864389 # Seafloor depth:-1438.864389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1442.211883 meters looking forward 0.000000 meters along route # Maximum depth: 1442.211883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.211883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091009; longitude = -173.749858; captureRadius = 10; duration = 212; initialDepth = 1400.776845; finalDepth = 1392.211883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1392.211883 # Seafloor depth:-1442.211883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1450.776845 meters looking forward 0.000000 meters along route # Maximum depth: 1450.776845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.776845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090495; longitude = -173.749089; captureRadius = 10; duration = 212; initialDepth = 1416.494395; finalDepth = 1400.776845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1400.776845 # Seafloor depth:-1450.776845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1466.494395 meters looking forward 0.000000 meters along route # Maximum depth: 1466.494395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.494395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089952; longitude = -173.748277; captureRadius = 10; duration = 212; initialDepth = 1447.942128; finalDepth = 1416.494395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1416.494395 # Seafloor depth:-1466.494395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1497.942128 meters looking forward 0.000000 meters along route # Maximum depth: 1497.942128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.942128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089410; longitude = -173.747466; captureRadius = 10; duration = 212; initialDepth = 1483.850995; finalDepth = 1447.942128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1447.942128 # Seafloor depth:-1497.942128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.162924 meters # Minimum depth: 1533.850995 meters looking forward 0.000000 meters along route # Maximum depth: 1533.850995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.850995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088895; longitude = -173.746695; captureRadius = 10; duration = 212; initialDepth = 1522.434570; finalDepth = 1483.850995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1483.850995 # Seafloor depth:-1533.850995 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 21 # Segment length 106.162924 meters # Minimum depth: 1572.434570 meters looking forward 0.000000 meters along route # Maximum depth: 1572.434570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.434570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088356; longitude = -173.745889; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1427.768778; finalDepth = 1522.434570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1522.43457 # Seafloor depth:-1572.434570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.162924 meters # Minimum depth: 1477.768778 meters looking forward 0.000000 meters along route # Maximum depth: 1477.768778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.768778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089530; longitude = -173.745021; captureRadius = 10; duration = 212; initialDepth = 1378.887990; finalDepth = 1427.768778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1427.768778 # Seafloor depth:-1477.768778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.162924 meters # Minimum depth: 1428.887990 meters looking forward 0.000000 meters along route # Maximum depth: 1428.887990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.887990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090285; longitude = -173.744462; captureRadius = 10; duration = 212; initialDepth = 1310.583082; finalDepth = 1378.887990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1378.88799 # Seafloor depth:-1428.887990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.162924 meters # Minimum depth: 1360.583082 meters looking forward 0.000000 meters along route # Maximum depth: 1360.583082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.583082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091039; longitude = -173.743904; captureRadius = 10; duration = 212; initialDepth = 1321.286575; finalDepth = 1310.583082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1310.583082 # Seafloor depth:-1360.583082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.162924 meters # Minimum depth: 1371.286575 meters looking forward 0.000000 meters along route # Maximum depth: 1371.286575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.286575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091794; longitude = -173.743346; captureRadius = 10; duration = 212; initialDepth = 1375.503451; finalDepth = 1321.286575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1321.286575 # Seafloor depth:-1371.286575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.162924 meters # Minimum depth: 1460.469215 meters looking forward 0.000000 meters along route # Maximum depth: 1460.469215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.503451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092574; longitude = -173.742769; captureRadius = 10; duration = 212; initialDepth = 1432.028720; finalDepth = 1375.503451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9657642689283 # Actual altitude: 84.9657642689283 # Commanded vehicle depth:1375.50345073107 # Seafloor depth:-1460.469215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.98; MB_Bottom_Detect_Filter_Max_Range = 339.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 106.162924 meters # Minimum depth: 1542.728822 meters looking forward 0.000000 meters along route # Maximum depth: 1542.728822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.028720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093388; longitude = -173.742167; captureRadius = 10; duration = 212; initialDepth = 1484.345376; finalDepth = 1432.028720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 110.700101744355 # Actual altitude: 100 # Commanded vehicle depth:1432.02872025564 # Seafloor depth:-1542.728822 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 to get to end of line 20 # Segment length 106.162924 meters # Minimum depth: 1580.422394 meters looking forward 0.000000 meters along route # Maximum depth: 1580.422394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.345376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094141; longitude = -173.741610; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1494.005341; finalDepth = 1484.345376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.700101744355 # Actual altitude: 100 # Commanded vehicle depth:1484.34537639886 # Seafloor depth:-1580.422394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; 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 20 # Segment length 106.162924 meters # Minimum depth: 1544.005341 meters looking forward 0.000000 meters along route # Maximum depth: 1544.005341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.005341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094563; longitude = -173.742247; captureRadius = 10; duration = 212; initialDepth = 1451.769006; finalDepth = 1494.005341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.0770176011379 # Actual altitude: 96.0770176011379 # Commanded vehicle depth:1494.005341 # Seafloor depth:-1544.005341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 57.65; 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 20 # Segment length 106.162924 meters # Minimum depth: 1501.769006 meters looking forward 0.000000 meters along route # Maximum depth: 1501.769006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.769006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095107; longitude = -173.743067; captureRadius = 10; duration = 212; initialDepth = 1409.763162; finalDepth = 1451.769006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1451.769006 # Seafloor depth:-1501.769006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1459.763162 meters looking forward 0.000000 meters along route # Maximum depth: 1459.763162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.763162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095662; longitude = -173.743904; captureRadius = 10; duration = 212; initialDepth = 1384.692606; finalDepth = 1409.763162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1409.763162 # Seafloor depth:-1459.763162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1434.692606 meters looking forward 0.000000 meters along route # Maximum depth: 1434.692606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.692606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096217; longitude = -173.744741; captureRadius = 10; duration = 212; initialDepth = 1351.406209; finalDepth = 1384.692606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1384.692606 # Seafloor depth:-1434.692606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1401.406209 meters looking forward 0.000000 meters along route # Maximum depth: 1401.406209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.406209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096733; longitude = -173.745520; captureRadius = 10; duration = 212; initialDepth = 1356.750515; finalDepth = 1351.406209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1351.406209 # Seafloor depth:-1401.406209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1406.750515 meters looking forward 0.000000 meters along route # Maximum depth: 1406.750515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1356.750515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097275; longitude = -173.746339; captureRadius = 10; duration = 212; initialDepth = 1361.338569; finalDepth = 1356.750515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1356.750515 # Seafloor depth:-1406.750515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1411.338569 meters looking forward 0.000000 meters along route # Maximum depth: 1411.338569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.338569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097820; longitude = -173.747160; captureRadius = 10; duration = 212; initialDepth = 1359.402391; finalDepth = 1361.338569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1361.338569 # Seafloor depth:-1411.338569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1409.402391 meters looking forward 0.000000 meters along route # Maximum depth: 1409.402391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.402391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098375; longitude = -173.747997; captureRadius = 10; duration = 212; initialDepth = 1414.956034; finalDepth = 1359.402391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1359.402391 # Seafloor depth:-1409.402391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1465.630468 meters looking forward 0.000000 meters along route # Maximum depth: 1465.630468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1414.956034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098930; longitude = -173.748835; captureRadius = 10; duration = 212; initialDepth = 1466.550547; finalDepth = 1414.956034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6744342738957 # Actual altitude: 50.6744342738957 # Commanded vehicle depth:1414.9560337261 # Seafloor depth:-1465.630468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 202.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.162924 meters # Minimum depth: 1525.726745 meters looking forward 0.000000 meters along route # Maximum depth: 1525.726745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.550547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099445; longitude = -173.749612; captureRadius = 10; duration = 212; initialDepth = 1517.817682; finalDepth = 1466.550547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1761978930142 # Actual altitude: 59.1761978930142 # Commanded vehicle depth:1466.55054710699 # Seafloor depth:-1525.726745 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 236.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.70; 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 19 # Segment length 106.162924 meters # Minimum depth: 1573.686859 meters looking forward 0.000000 meters along route # Maximum depth: 1573.686859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.817682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099957; longitude = -173.750385; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1467.059644; finalDepth = 1517.817682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1761978930142 # Actual altitude: 59.1761978930142 # Commanded vehicle depth:1517.81768224066 # Seafloor depth:-1573.686859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.51; MB_Bottom_Detect_Filter_Max_Range = 236.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.162924 meters # Minimum depth: 1517.059644 meters looking forward 0.000000 meters along route # Maximum depth: 1517.059644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.059644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098886; longitude = -173.751160; captureRadius = 10; duration = 212; initialDepth = 1392.209566; finalDepth = 1467.059644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8691767593352 # Actual altitude: 55.8691767593352 # Commanded vehicle depth:1467.059644 # Seafloor depth:-1517.059644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 223.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.162924 meters # Minimum depth: 1442.209566 meters looking forward 0.000000 meters along route # Maximum depth: 1442.209566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.209566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098089; longitude = -173.751738; captureRadius = 10; duration = 212; initialDepth = 1331.489392; finalDepth = 1392.209566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1392.209566 # Seafloor depth:-1442.209566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.162924 meters # Minimum depth: 1381.489392 meters looking forward 0.000000 meters along route # Maximum depth: 1381.489392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.489392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097344; longitude = -173.752277; captureRadius = 10; duration = 212; initialDepth = 1384.662935; finalDepth = 1331.489392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1331.489392 # Seafloor depth:-1381.489392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.162924 meters # Minimum depth: 1440.425251 meters looking forward 0.000000 meters along route # Maximum depth: 1440.425251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.662935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096573; longitude = -173.752835; captureRadius = 10; duration = 212; initialDepth = 1429.826503; finalDepth = 1384.662935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7623155824797 # Actual altitude: 55.7623155824797 # Commanded vehicle depth:1384.66293541752 # Seafloor depth:-1440.425251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 223.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.162924 meters # Minimum depth: 1479.826503 meters looking forward 0.000000 meters along route # Maximum depth: 1479.826503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.826503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095829; longitude = -173.753374; captureRadius = 10; duration = 212; initialDepth = 1478.684509; finalDepth = 1429.826503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 55.7623155824797 # Actual altitude: 55.7623155824797 # Commanded vehicle depth:1429.826503 # Seafloor depth:-1479.826503 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 223.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 106.162924 meters # Minimum depth: 1528.684509 meters looking forward 0.000000 meters along route # Maximum depth: 1528.684509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.684509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095075; longitude = -173.753920; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1451.175898; finalDepth = 1478.684509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1478.684509 # Seafloor depth:-1528.684509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1501.175898 meters looking forward 0.000000 meters along route # Maximum depth: 1501.175898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.175898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094654; longitude = -173.753271; captureRadius = 10; duration = 212; initialDepth = 1406.739524; finalDepth = 1451.175898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1451.175898 # Seafloor depth:-1501.175898 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1456.739524 meters looking forward 0.000000 meters along route # Maximum depth: 1456.739524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.739524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094111; longitude = -173.752435; captureRadius = 10; duration = 212; initialDepth = 1355.936809; finalDepth = 1406.739524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1406.739524 # Seafloor depth:-1456.739524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1405.936809 meters looking forward 0.000000 meters along route # Maximum depth: 1405.936809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1355.936809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093569; longitude = -173.751599; captureRadius = 10; duration = 212; initialDepth = 1324.930115; finalDepth = 1355.936809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1355.936809 # Seafloor depth:-1405.936809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1374.930115 meters looking forward 0.000000 meters along route # Maximum depth: 1374.930115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1324.930115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093026; longitude = -173.750764; captureRadius = 10; duration = 212; initialDepth = 1309.053374; finalDepth = 1324.930115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1324.930115 # Seafloor depth:-1374.930115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1359.053374 meters looking forward 0.000000 meters along route # Maximum depth: 1359.053374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1309.053374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092484; longitude = -173.749928; captureRadius = 10; duration = 212; initialDepth = 1309.928976; finalDepth = 1309.053374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1309.053374 # Seafloor depth:-1359.053374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1359.928976 meters looking forward 0.000000 meters along route # Maximum depth: 1359.928976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1309.928976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091942; longitude = -173.749092; captureRadius = 10; duration = 212; initialDepth = 1324.844139; finalDepth = 1309.928976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1309.928976 # Seafloor depth:-1359.928976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1374.844139 meters looking forward 0.000000 meters along route # Maximum depth: 1374.844139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1324.844139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091399; longitude = -173.748257; captureRadius = 10; duration = 212; initialDepth = 1352.521244; finalDepth = 1324.844139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1324.844139 # Seafloor depth:-1374.844139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1402.521244 meters looking forward 0.000000 meters along route # Maximum depth: 1402.521244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.521244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090857; longitude = -173.747421; captureRadius = 10; duration = 212; initialDepth = 1390.505318; finalDepth = 1352.521244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1352.521244 # Seafloor depth:-1402.521244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.162924 meters # Minimum depth: 1440.505318 meters looking forward 0.000000 meters along route # Maximum depth: 1440.505318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.505318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090314; longitude = -173.746585; captureRadius = 10; duration = 212; initialDepth = 1424.928680; finalDepth = 1390.505318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1390.505318 # Seafloor depth:-1440.505318 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 17 # Segment length 106.162924 meters # Minimum depth: 1474.928680 meters looking forward 0.000000 meters along route # Maximum depth: 1474.928680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.928680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089802; longitude = -173.745796; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1377.213496; finalDepth = 1424.928680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1424.92868 # Seafloor depth:-1474.928680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.162924 meters # Minimum depth: 1427.213496 meters looking forward 0.000000 meters along route # Maximum depth: 1427.213496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.213496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090593; longitude = -173.745207; captureRadius = 10; duration = 212; initialDepth = 1305.859204; finalDepth = 1377.213496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1377.213496 # Seafloor depth:-1427.213496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.162924 meters # Minimum depth: 1355.859204 meters looking forward 0.000000 meters along route # Maximum depth: 1355.859204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.859204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091341; longitude = -173.744648; captureRadius = 10; duration = 212; initialDepth = 1302.451272; finalDepth = 1305.859204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1305.859204 # Seafloor depth:-1355.859204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.162924 meters # Minimum depth: 1352.451272 meters looking forward 0.000000 meters along route # Maximum depth: 1352.451272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1302.451272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092090; longitude = -173.744090; captureRadius = 10; duration = 212; initialDepth = 1355.079837; finalDepth = 1302.451272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1302.451272 # Seafloor depth:-1352.451272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.162924 meters # Minimum depth: 1413.207375 meters looking forward 0.000000 meters along route # Maximum depth: 1413.207375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1355.079837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092846; longitude = -173.743527; captureRadius = 10; duration = 212; initialDepth = 1409.655655; finalDepth = 1355.079837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 58.1275378019207 # Actual altitude: 58.1275378019207 # Commanded vehicle depth:1355.07983719808 # Seafloor depth:-1413.207375 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.88; MB_Bottom_Detect_Filter_Max_Range = 232.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 106.162924 meters # Minimum depth: 1500.385559 meters looking forward 0.000000 meters along route # Maximum depth: 1500.385559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.655655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093629; longitude = -173.742943; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1387.171694; finalDepth = 1409.655655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.7299037417301 # Actual altitude: 90.7299037417301 # Commanded vehicle depth:1409.65565525827 # Seafloor depth:-1500.385559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 54.44; 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 16 # Segment length 106.162924 meters # Minimum depth: 1437.171694 meters looking forward 0.000000 meters along route # Maximum depth: 1437.171694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.171694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094308; longitude = -173.743997; captureRadius = 10; duration = 212; initialDepth = 1337.164421; finalDepth = 1387.171694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.7299037417301 # Actual altitude: 90.7299037417301 # Commanded vehicle depth:1387.171694 # Seafloor depth:-1437.171694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 54.44; 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 16 # Segment length 106.162924 meters # Minimum depth: 1387.164421 meters looking forward 0.000000 meters along route # Maximum depth: 1387.164421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.164421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094847; longitude = -173.744835; captureRadius = 10; duration = 212; initialDepth = 1306.239712; finalDepth = 1337.164421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1337.164421 # Seafloor depth:-1387.164421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.162924 meters # Minimum depth: 1356.239712 meters looking forward 0.000000 meters along route # Maximum depth: 1356.239712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1306.239712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095386; longitude = -173.745672; captureRadius = 10; duration = 212; initialDepth = 1266.595836; finalDepth = 1306.239712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1306.239712 # Seafloor depth:-1356.239712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.162924 meters # Minimum depth: 1316.595836 meters looking forward 0.000000 meters along route # Maximum depth: 1316.595836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1266.595836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095925; longitude = -173.746509; captureRadius = 10; duration = 212; initialDepth = 1276.324196; finalDepth = 1266.595836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1266.595836 # Seafloor depth:-1316.595836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.162924 meters # Minimum depth: 1326.324196 meters looking forward 0.000000 meters along route # Maximum depth: 1326.324196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1276.324196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096465; longitude = -173.747346; captureRadius = 10; duration = 212; initialDepth = 1284.423044; finalDepth = 1276.324196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1276.324196 # Seafloor depth:-1326.324196 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.162924 meters # Minimum depth: 1334.423044 meters looking forward 0.000000 meters along route # Maximum depth: 1334.423044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1284.423044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097004; longitude = -173.748184; captureRadius = 10; duration = 212; initialDepth = 1339.812475; finalDepth = 1284.423044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1284.423044 # Seafloor depth:-1334.423044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.162924 meters # Minimum depth: 1397.043166 meters looking forward 0.000000 meters along route # Maximum depth: 1397.043166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1339.812475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097546; longitude = -173.749026; captureRadius = 10; duration = 212; initialDepth = 1395.201846; finalDepth = 1339.812475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2306906610715 # Actual altitude: 57.2306906610715 # Commanded vehicle depth:1339.81247533893 # Seafloor depth:-1397.043166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.34; MB_Bottom_Detect_Filter_Max_Range = 228.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.162924 meters # Minimum depth: 1453.767680 meters looking forward 0.000000 meters along route # Maximum depth: 1453.767680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.201846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098089; longitude = -173.749869; captureRadius = 10; duration = 212; initialDepth = 1442.834625; finalDepth = 1395.201846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5658344651961 # Actual altitude: 58.5658344651961 # Commanded vehicle depth:1395.2018455348 # Seafloor depth:-1453.767680 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 234.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.26; 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 15 # Segment length 106.162924 meters # Minimum depth: 1492.834625 meters looking forward 0.000000 meters along route # Maximum depth: 1492.834625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.834625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098601; longitude = -173.750664; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1340.590102; finalDepth = 1442.834625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5658344651961 # Actual altitude: 58.5658344651961 # Commanded vehicle depth:1442.834625 # Seafloor depth:-1492.834625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.14; MB_Bottom_Detect_Filter_Max_Range = 234.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.162924 meters # Minimum depth: 1390.590102 meters looking forward 0.000000 meters along route # Maximum depth: 1390.590102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1340.590102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097366; longitude = -173.751566; captureRadius = 10; duration = 212; initialDepth = 1325.363855; finalDepth = 1340.590102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1340.590102 # Seafloor depth:-1390.590102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.162924 meters # Minimum depth: 1375.363855 meters looking forward 0.000000 meters along route # Maximum depth: 1375.363855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1325.363855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096552; longitude = -173.752161; captureRadius = 10; duration = 212; initialDepth = 1358.301331; finalDepth = 1325.363855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1325.363855 # Seafloor depth:-1375.363855 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 106.162924 meters # Minimum depth: 1408.301331 meters looking forward 0.000000 meters along route # Maximum depth: 1408.301331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.301331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095799; longitude = -173.752711; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1319.558424; finalDepth = 1358.301331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1358.301331 # Seafloor depth:-1408.301331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.162924 meters # Minimum depth: 1369.558424 meters looking forward 0.000000 meters along route # Maximum depth: 1369.558424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.558424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095013; longitude = -173.751533; captureRadius = 10; duration = 212; initialDepth = 1275.378692; finalDepth = 1319.558424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1319.558424 # Seafloor depth:-1369.558424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.162924 meters # Minimum depth: 1325.378692 meters looking forward 0.000000 meters along route # Maximum depth: 1325.378692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.378692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094454; longitude = -173.750695; captureRadius = 10; duration = 212; initialDepth = 1241.362273; finalDepth = 1275.378692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1275.378692 # Seafloor depth:-1325.378692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.162924 meters # Minimum depth: 1291.362273 meters looking forward 0.000000 meters along route # Maximum depth: 1291.362273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.362273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093930; longitude = -173.749910; captureRadius = 10; duration = 212; initialDepth = 1224.651603; finalDepth = 1241.362273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1241.362273 # Seafloor depth:-1291.362273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.162924 meters # Minimum depth: 1274.651603 meters looking forward 0.000000 meters along route # Maximum depth: 1274.651603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.651603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093388; longitude = -173.749097; captureRadius = 10; duration = 212; initialDepth = 1227.655972; finalDepth = 1224.651603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1224.651603 # Seafloor depth:-1274.651603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.162924 meters # Minimum depth: 1277.655972 meters looking forward 0.000000 meters along route # Maximum depth: 1277.655972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.655972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092841; longitude = -173.748277; captureRadius = 10; duration = 212; initialDepth = 1247.723855; finalDepth = 1227.655972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1227.655972 # Seafloor depth:-1277.655972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.162924 meters # Minimum depth: 1297.723855 meters looking forward 0.000000 meters along route # Maximum depth: 1297.723855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1247.723855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092282; longitude = -173.747439; captureRadius = 10; duration = 212; initialDepth = 1299.701770; finalDepth = 1247.723855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1247.723855 # Seafloor depth:-1297.723855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.162924 meters # Minimum depth: 1351.694665 meters looking forward 0.000000 meters along route # Maximum depth: 1351.694665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1299.701770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091761; longitude = -173.746658; captureRadius = 10; duration = 212; initialDepth = 1334.467560; finalDepth = 1299.701770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9928950308076 # Actual altitude: 51.9928950308076 # Commanded vehicle depth:1299.70176996919 # Seafloor depth:-1351.694665 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 207.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.97; 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 13 # Segment length 106.162924 meters # Minimum depth: 1384.467560 meters looking forward 0.000000 meters along route # Maximum depth: 1384.467560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.467560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091248; longitude = -173.745889; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1270.849961; finalDepth = 1334.467560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9928950308076 # Actual altitude: 51.9928950308076 # Commanded vehicle depth:1334.46756 # Seafloor depth:-1384.467560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.20; MB_Bottom_Detect_Filter_Max_Range = 207.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.162924 meters # Minimum depth: 1320.849961 meters looking forward 0.000000 meters along route # Maximum depth: 1320.849961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1270.849961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092500; longitude = -173.744928; captureRadius = 10; duration = 212; initialDepth = 1324.875106; finalDepth = 1270.849961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1270.849961 # Seafloor depth:-1320.849961 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 106.162924 meters # Minimum depth: 1388.614197 meters looking forward 0.000000 meters along route # Maximum depth: 1388.614197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1324.875106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093267; longitude = -173.744338; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1322.639043; finalDepth = 1324.875106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.7390906155599 # Actual altitude: 63.7390906155599 # Commanded vehicle depth:1324.87510638444 # Seafloor depth:-1388.614197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.24; MB_Bottom_Detect_Filter_Max_Range = 254.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.162924 meters # Minimum depth: 1372.639043 meters looking forward 0.000000 meters along route # Maximum depth: 1372.639043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1322.639043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093700; longitude = -173.745021; captureRadius = 10; duration = 212; initialDepth = 1267.768774; finalDepth = 1322.639043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.7390906155599 # Actual altitude: 63.7390906155599 # Commanded vehicle depth:1322.639043 # Seafloor depth:-1372.639043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.24; MB_Bottom_Detect_Filter_Max_Range = 254.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.162924 meters # Minimum depth: 1317.768774 meters looking forward 0.000000 meters along route # Maximum depth: 1317.768774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1267.768774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094202; longitude = -173.745812; captureRadius = 10; duration = 212; initialDepth = 1227.553063; finalDepth = 1267.768774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1267.768774 # Seafloor depth:-1317.768774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.162924 meters # Minimum depth: 1277.553063 meters looking forward 0.000000 meters along route # Maximum depth: 1277.553063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.553063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094702; longitude = -173.746602; captureRadius = 10; duration = 212; initialDepth = 1197.031778; finalDepth = 1227.553063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1227.553063 # Seafloor depth:-1277.553063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.162924 meters # Minimum depth: 1247.031778 meters looking forward 0.000000 meters along route # Maximum depth: 1247.031778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.031778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095233; longitude = -173.747439; captureRadius = 10; duration = 212; initialDepth = 1212.865883; finalDepth = 1197.031778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1197.031778 # Seafloor depth:-1247.031778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.162924 meters # Minimum depth: 1262.865883 meters looking forward 0.000000 meters along route # Maximum depth: 1262.865883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.865883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095764; longitude = -173.748277; captureRadius = 10; duration = 212; initialDepth = 1265.441876; finalDepth = 1212.865883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1212.865883 # Seafloor depth:-1262.865883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.162924 meters # Minimum depth: 1315.441876 meters looking forward 0.000000 meters along route # Maximum depth: 1315.441876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1265.441876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096294; longitude = -173.749114; captureRadius = 10; duration = 212; initialDepth = 1319.835954; finalDepth = 1265.441876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1265.441876 # Seafloor depth:-1315.441876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.162924 meters # Minimum depth: 1369.835954 meters looking forward 0.000000 meters along route # Maximum depth: 1369.835954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.835954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096825; longitude = -173.749951; captureRadius = 10; duration = 212; initialDepth = 1350.675446; finalDepth = 1319.835954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1319.835954 # Seafloor depth:-1369.835954 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 11 # Segment length 106.162924 meters # Minimum depth: 1400.675446 meters looking forward 0.000000 meters along route # Maximum depth: 1400.675446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.675446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097336; longitude = -173.750757; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1290.510651; finalDepth = 1350.675446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1350.675446 # Seafloor depth:-1400.675446 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 106.162924 meters # Minimum depth: 1340.510651 meters looking forward 0.000000 meters along route # Maximum depth: 1340.510651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1290.510651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096341; longitude = -173.751502; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1232.070817; finalDepth = 1290.510651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1290.510651 # Seafloor depth:-1340.510651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 106.162924 meters # Minimum depth: 1282.070817 meters looking forward 0.000000 meters along route # Maximum depth: 1282.070817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.070817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095811; longitude = -173.750695; captureRadius = 10; duration = 212; initialDepth = 1203.232953; finalDepth = 1232.070817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1232.070817 # Seafloor depth:-1282.070817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 106.162924 meters # Minimum depth: 1253.232953 meters looking forward 0.000000 meters along route # Maximum depth: 1253.232953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.232953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095286; longitude = -173.749898; captureRadius = 10; duration = 212; initialDepth = 1157.559930; finalDepth = 1203.232953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1203.232953 # Seafloor depth:-1253.232953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 106.162924 meters # Minimum depth: 1207.559930 meters looking forward 0.000000 meters along route # Maximum depth: 1207.559930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.559930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094771; longitude = -173.749114; captureRadius = 10; duration = 212; initialDepth = 1129.808197; finalDepth = 1157.559930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1157.55993 # Seafloor depth:-1207.559930 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 106.162924 meters # Minimum depth: 1179.808197 meters looking forward 0.000000 meters along route # Maximum depth: 1179.808197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.808197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094262; longitude = -173.748339; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1133.603347; finalDepth = 1129.808197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1129.808197 # Seafloor depth:-1179.808197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.162924 meters # Minimum depth: 1183.603347 meters looking forward 0.000000 meters along route # Maximum depth: 1183.603347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.603347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093840; longitude = -173.747710; captureRadius = 10; duration = 212; initialDepth = 1188.814253; finalDepth = 1133.603347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1133.603347 # Seafloor depth:-1183.603347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.162924 meters # Minimum depth: 1253.180776 meters looking forward 0.000000 meters along route # Maximum depth: 1253.180776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.814253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093284; longitude = -173.746881; captureRadius = 10; duration = 212; initialDepth = 1244.586377; finalDepth = 1188.814253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.3665231464161 # Actual altitude: 64.3665231464161 # Commanded vehicle depth:1188.81425285358 # Seafloor depth:-1253.180776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.62; MB_Bottom_Detect_Filter_Max_Range = 257.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.162924 meters # Minimum depth: 1314.648838 meters looking forward 0.000000 meters along route # Maximum depth: 1314.648838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.586377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092722; longitude = -173.746044; captureRadius = 10; duration = 212; initialDepth = 1268.921968; finalDepth = 1244.586377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0624614785884 # Actual altitude: 70.0624614785884 # Commanded vehicle depth:1244.58637652141 # Seafloor depth:-1314.648838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.04; MB_Bottom_Detect_Filter_Max_Range = 280.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.162924 meters # Minimum depth: 1318.921968 meters looking forward 0.000000 meters along route # Maximum depth: 1318.921968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1268.921968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092160; longitude = -173.745207; captureRadius = 10; duration = 212; initialDepth = 1295.484314; finalDepth = 1268.921968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0624614785884 # Actual altitude: 70.0624614785884 # Commanded vehicle depth:1268.921968 # Seafloor depth:-1318.921968 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.04; MB_Bottom_Detect_Filter_Max_Range = 280.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 106.162924 meters # Minimum depth: 1345.484314 meters looking forward 0.000000 meters along route # Maximum depth: 1345.484314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.484314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091640; longitude = -173.744431; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1307.736765; finalDepth = 1295.484314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1295.484314 # Seafloor depth:-1345.484314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.162924 meters # Minimum depth: 1357.736765 meters looking forward 0.000000 meters along route # Maximum depth: 1357.736765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.736765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091218; longitude = -173.743849; captureRadius = 10; duration = 212; initialDepth = 1350.870496; finalDepth = 1307.736765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1307.736765 # Seafloor depth:-1357.736765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.162924 meters # Minimum depth: 1400.870496 meters looking forward 0.000000 meters along route # Maximum depth: 1400.870496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.870496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090676; longitude = -173.743101; captureRadius = 10; duration = 212; initialDepth = 1389.687720; finalDepth = 1350.870496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1350.870496 # Seafloor depth:-1400.870496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.162924 meters # Minimum depth: 1439.687720 meters looking forward 0.000000 meters along route # Maximum depth: 1439.687720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.687720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090133; longitude = -173.742352; captureRadius = 10; duration = 212; initialDepth = 1427.617206; finalDepth = 1389.687720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1389.68772 # Seafloor depth:-1439.687720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.162924 meters # Minimum depth: 1477.617206 meters looking forward 0.000000 meters along route # Maximum depth: 1477.617206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.617206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089573; longitude = -173.741578; captureRadius = 10; duration = 212; initialDepth = 1458.332733; finalDepth = 1427.617206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1427.617206 # Seafloor depth:-1477.617206 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 106.162924 meters # Minimum depth: 1508.332733 meters looking forward 0.000000 meters along route # Maximum depth: 1508.332733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.332733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088988; longitude = -173.740772; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1485.770294; finalDepth = 1458.332733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1458.332733 # Seafloor depth:-1508.332733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.162924 meters # Minimum depth: 1535.770294 meters looking forward 0.000000 meters along route # Maximum depth: 1535.770294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.770294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088374; longitude = -173.739625; captureRadius = 10; duration = 212; initialDepth = 1506.677508; finalDepth = 1485.770294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1485.770294 # Seafloor depth:-1535.770294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.162924 meters # Minimum depth: 1556.677508 meters looking forward 0.000000 meters along route # Maximum depth: 1556.677508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.677508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087926; longitude = -173.738788; captureRadius = 10; duration = 212; initialDepth = 1538.908323; finalDepth = 1506.677508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1506.677508 # Seafloor depth:-1556.677508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.162924 meters # Minimum depth: 1588.908323 meters looking forward 0.000000 meters along route # Maximum depth: 1588.908323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.908323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087478; longitude = -173.737950; captureRadius = 10; duration = 212; initialDepth = 1568.338344; finalDepth = 1538.908323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1538.908323 # Seafloor depth:-1588.908323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 106.162924 meters # Minimum depth: 1618.338344 meters looking forward 0.000000 meters along route # Maximum depth: 1618.338344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.338344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087029; longitude = -173.737113; captureRadius = 10; duration = 212; initialDepth = 1589.528229; finalDepth = 1568.338344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1568.338344 # Seafloor depth:-1618.338344 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 106.162924 meters # Minimum depth: 1639.528229 meters looking forward 0.000000 meters along route # Maximum depth: 1639.528229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.528229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086548; longitude = -173.736214; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1598.485971; finalDepth = 1589.528229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1589.528229 # Seafloor depth:-1639.528229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.162924 meters # Minimum depth: 1648.485971 meters looking forward 0.000000 meters along route # Maximum depth: 1648.485971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.485971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086000; longitude = -173.734694; captureRadius = 10; duration = 212; initialDepth = 1635.302223; finalDepth = 1598.485971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1598.485971 # Seafloor depth:-1648.485971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.162924 meters # Minimum depth: 1685.302223 meters looking forward 0.000000 meters along route # Maximum depth: 1685.302223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.302223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085664; longitude = -173.733764; captureRadius = 10; duration = 212; initialDepth = 1666.876977; finalDepth = 1635.302223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1635.302223 # Seafloor depth:-1685.302223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.162924 meters # Minimum depth: 1716.876977 meters looking forward 0.000000 meters along route # Maximum depth: 1716.876977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.876977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085342; longitude = -173.732873; captureRadius = 10; duration = 212; initialDepth = 1695.811935; finalDepth = 1666.876977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.876977 # Seafloor depth:-1716.876977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.162924 meters # Minimum depth: 1745.811935 meters looking forward 0.000000 meters along route # Maximum depth: 1745.811935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.811935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085026; longitude = -173.731997; captureRadius = 10; duration = 212; initialDepth = 1734.288605; finalDepth = 1695.811935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1695.811935 # Seafloor depth:-1745.811935 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 106.162924 meters # Minimum depth: 1784.288605 meters looking forward 0.000000 meters along route # Maximum depth: 1784.288605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.288605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084679; longitude = -173.731035; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1749.111733; finalDepth = 1734.288605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1734.288605 # Seafloor depth:-1784.288605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.162924 meters # Minimum depth: 1799.111733 meters looking forward 0.000000 meters along route # Maximum depth: 1799.111733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.111733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084407; longitude = -173.730322; captureRadius = 10; duration = 212; initialDepth = 1757.260266; finalDepth = 1749.111733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1749.111733 # Seafloor depth:-1799.111733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.162924 meters # Minimum depth: 1807.260266 meters looking forward 0.000000 meters along route # Maximum depth: 1807.260266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.260266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084052; longitude = -173.729392; captureRadius = 10; duration = 212; initialDepth = 1779.778245; finalDepth = 1757.260266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.260266 # Seafloor depth:-1807.260266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.162924 meters # Minimum depth: 1829.778245 meters looking forward 0.000000 meters along route # Maximum depth: 1829.778245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.778245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083696; longitude = -173.728461; captureRadius = 10; duration = 212; initialDepth = 1803.811331; finalDepth = 1779.778245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.778245 # Seafloor depth:-1829.778245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.162924 meters # Minimum depth: 1853.811331 meters looking forward 0.000000 meters along route # Maximum depth: 1853.811331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.811331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083353; longitude = -173.727563; captureRadius = 10; duration = 212; initialDepth = 1845.123447; finalDepth = 1803.811331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1803.811331 # Seafloor depth:-1853.811331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.162924 meters # Minimum depth: 1895.123447 meters looking forward 0.000000 meters along route # Maximum depth: 1895.123447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.123447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083021; longitude = -173.726694; captureRadius = 10; duration = 212; initialDepth = 1859.370605; finalDepth = 1845.123447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1845.123447 # Seafloor depth:-1895.123447 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 106.162924 meters # Minimum depth: 1909.370605 meters looking forward 0.000000 meters along route # Maximum depth: 1909.370605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.370605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082690; longitude = -173.725826; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 1882.401180; finalDepth = 1859.370605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1859.370605 # Seafloor depth:-1909.370605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.162924 meters # Minimum depth: 1932.401180 meters looking forward 0.000000 meters along route # Maximum depth: 1932.401180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.401180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082449; longitude = -173.724807; captureRadius = 10; duration = 212; initialDepth = 1899.599716; finalDepth = 1882.401180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1882.40118 # Seafloor depth:-1932.401180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.162924 meters # Minimum depth: 1949.599716 meters looking forward 0.000000 meters along route # Maximum depth: 1949.599716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.599716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082236; longitude = -173.723903; captureRadius = 10; duration = 212; initialDepth = 1884.332874; finalDepth = 1899.599716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1899.599716 # Seafloor depth:-1949.599716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.162924 meters # Minimum depth: 1934.332874 meters looking forward 0.000000 meters along route # Maximum depth: 1934.332874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.332874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082016; longitude = -173.722973; captureRadius = 10; duration = 212; initialDepth = 1915.465614; finalDepth = 1884.332874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1884.332874 # Seafloor depth:-1934.332874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.162924 meters # Minimum depth: 1965.465614 meters looking forward 0.000000 meters along route # Maximum depth: 1965.465614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.465614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081797; longitude = -173.722042; captureRadius = 10; duration = 212; initialDepth = 1967.943720; finalDepth = 1915.465614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1915.465614 # Seafloor depth:-1965.465614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.162924 meters # Minimum depth: 2036.772947 meters looking forward 0.000000 meters along route # Maximum depth: 2036.772947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1967.943720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081577; longitude = -173.721112; captureRadius = 10; duration = 212; initialDepth = 2011.877198; finalDepth = 1967.943720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8292265879625 # Actual altitude: 68.8292265879625 # Commanded vehicle depth:1967.94372041204 # Seafloor depth:-2036.772947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.30; MB_Bottom_Detect_Filter_Max_Range = 275.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 106.162924 meters # Minimum depth: 2061.877198 meters looking forward 0.000000 meters along route # Maximum depth: 2061.877198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.877198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081357; longitude = -173.720182; captureRadius = 10; duration = 212; initialDepth = 2021.144043; finalDepth = 2011.877198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8292265879625 # Actual altitude: 68.8292265879625 # Commanded vehicle depth:2011.877198 # Seafloor depth:-2061.877198 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.30; MB_Bottom_Detect_Filter_Max_Range = 275.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 106.162924 meters # Minimum depth: 2071.144043 meters looking forward 0.000000 meters along route # Maximum depth: 2071.144043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.144043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081123; longitude = -173.719190; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2043.742150; finalDepth = 2021.144043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2021.144043 # Seafloor depth:-2071.144043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.162924 meters # Minimum depth: 2093.742150 meters looking forward 0.000000 meters along route # Maximum depth: 2093.742150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.742150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081056; longitude = -173.717949; captureRadius = 10; duration = 212; initialDepth = 2078.693823; finalDepth = 2043.742150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2043.74215 # Seafloor depth:-2093.742150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.162924 meters # Minimum depth: 2128.693823 meters looking forward 0.000000 meters along route # Maximum depth: 2128.693823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.693823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081006; longitude = -173.717019; captureRadius = 10; duration = 212; initialDepth = 2065.388107; finalDepth = 2078.693823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2078.693823 # Seafloor depth:-2128.693823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.162924 meters # Minimum depth: 2115.388107 meters looking forward 0.000000 meters along route # Maximum depth: 2115.388107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2065.388107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080955; longitude = -173.716089; captureRadius = 10; duration = 212; initialDepth = 2073.496365; finalDepth = 2065.388107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2065.388107 # Seafloor depth:-2115.388107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.162924 meters # Minimum depth: 2123.496365 meters looking forward 0.000000 meters along route # Maximum depth: 2123.496365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.496365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080905; longitude = -173.715158; captureRadius = 10; duration = 212; initialDepth = 2124.568966; finalDepth = 2073.496365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2073.496365 # Seafloor depth:-2123.496365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.162924 meters # Minimum depth: 2187.662599 meters looking forward 0.000000 meters along route # Maximum depth: 2187.662599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.568966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080855; longitude = -173.714228; captureRadius = 10; duration = 212; initialDepth = 2163.866534; finalDepth = 2124.568966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.0936331314442 # Actual altitude: 63.0936331314442 # Commanded vehicle depth:2124.56896586856 # Seafloor depth:-2187.662599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.86; MB_Bottom_Detect_Filter_Max_Range = 252.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.162924 meters # Minimum depth: 2213.866534 meters looking forward 0.000000 meters along route # Maximum depth: 2213.866534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2163.866534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080804; longitude = -173.713298; captureRadius = 10; duration = 212; initialDepth = 2209.848445; finalDepth = 2163.866534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.0936331314442 # Actual altitude: 63.0936331314442 # Commanded vehicle depth:2163.866534 # Seafloor depth:-2213.866534 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.86; MB_Bottom_Detect_Filter_Max_Range = 252.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.162924 meters # Minimum depth: 2259.848445 meters looking forward 0.000000 meters along route # Maximum depth: 2259.848445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2209.848445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080754; longitude = -173.712367; captureRadius = 10; duration = 212; initialDepth = 2262.629985; finalDepth = 2209.848445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2209.848445 # Seafloor depth:-2259.848445 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 106.162924 meters # Minimum depth: 2336.112244 meters looking forward 0.000000 meters along route # Maximum depth: 2336.112244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2262.629985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080702; longitude = -173.711406; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2301.068669; finalDepth = 2262.629985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4822594887837 # Actual altitude: 73.4822594887837 # Commanded vehicle depth:2262.62998451122 # Seafloor depth:-2336.112244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.09; MB_Bottom_Detect_Filter_Max_Range = 293.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.162924 meters # Minimum depth: 2351.068669 meters looking forward 0.000000 meters along route # Maximum depth: 2351.068669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2301.068669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080590; longitude = -173.709949; captureRadius = 10; duration = 212; initialDepth = 2352.221263; finalDepth = 2301.068669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4822594887837 # Actual altitude: 73.4822594887837 # Commanded vehicle depth:2301.068669 # Seafloor depth:-2351.068669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.09; MB_Bottom_Detect_Filter_Max_Range = 293.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.162924 meters # Minimum depth: 2431.681763 meters looking forward 0.000000 meters along route # Maximum depth: 2431.681763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.221263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080519; longitude = -173.709018; captureRadius = 10; duration = 212; initialDepth = 2403.373836; finalDepth = 2352.221263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4605001850905 # Actual altitude: 79.4605001850905 # Commanded vehicle depth:2352.22126281491 # Seafloor depth:-2431.681763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.68; MB_Bottom_Detect_Filter_Max_Range = 317.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.162924 meters # Minimum depth: 2481.523096 meters looking forward 0.000000 meters along route # Maximum depth: 2481.523096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2403.373836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080447; longitude = -173.708088; captureRadius = 10; duration = 212; initialDepth = 2448.772518; finalDepth = 2403.373836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4605001850905 # Actual altitude: 79.4605001850905 # Commanded vehicle depth:2403.3738362488 # Seafloor depth:-2481.523096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.68; MB_Bottom_Detect_Filter_Max_Range = 317.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.162924 meters # Minimum depth: 2498.772518 meters looking forward 0.000000 meters along route # Maximum depth: 2498.772518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2448.772518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080376; longitude = -173.707158; captureRadius = 10; duration = 212; initialDepth = 2483.007632; finalDepth = 2448.772518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.1492597511988 # Actual altitude: 78.1492597511988 # Commanded vehicle depth:2448.772518 # Seafloor depth:-2498.772518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 312.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.89; MB_Bottom_Detect_Filter_Max_Range = 312.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.162924 meters # Minimum depth: 2533.007632 meters looking forward 0.000000 meters along route # Maximum depth: 2533.007632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2483.007632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080304; longitude = -173.706228; captureRadius = 10; duration = 212; initialDepth = 2521.065162; finalDepth = 2483.007632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2483.007632 # Seafloor depth:-2533.007632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.162924 meters # Minimum depth: 2571.065162 meters looking forward 0.000000 meters along route # Maximum depth: 2571.065162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2521.065162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080233; longitude = -173.705297; captureRadius = 10; duration = 212; initialDepth = 2523.190735; finalDepth = 2521.065162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2521.065162 # Seafloor depth:-2571.065162 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 106.162924 meters # Minimum depth: 2573.190735 meters looking forward 0.000000 meters along route # Maximum depth: 2573.190735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2523.190735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080159; longitude = -173.704336; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 2557.958507; finalDepth = 2523.190735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2523.190735 # Seafloor depth:-2573.190735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2607.958507 meters looking forward 0.000000 meters along route # Maximum depth: 2607.958507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2557.958507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079466; longitude = -173.703589; captureRadius = 10; duration = 212; initialDepth = 2567.456954; finalDepth = 2557.958507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2557.958507 # Seafloor depth:-2607.958507 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2617.456954 meters looking forward 0.000000 meters along route # Maximum depth: 2617.456954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2567.456954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078833; longitude = -173.702908; captureRadius = 10; duration = 212; initialDepth = 2609.435019; finalDepth = 2567.456954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2567.456954 # Seafloor depth:-2617.456954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2659.435019 meters looking forward 0.000000 meters along route # Maximum depth: 2659.435019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2609.435019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078200; longitude = -173.702226; captureRadius = 10; duration = 212; initialDepth = 2613.510651; finalDepth = 2609.435019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2609.435019 # Seafloor depth:-2659.435019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2663.510651 meters looking forward 0.000000 meters along route # Maximum depth: 2663.510651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2613.510651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077568; longitude = -173.701544; captureRadius = 10; duration = 212; initialDepth = 2637.214629; finalDepth = 2613.510651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2613.510651 # Seafloor depth:-2663.510651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2687.214629 meters looking forward 0.000000 meters along route # Maximum depth: 2687.214629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2637.214629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076935; longitude = -173.700862; captureRadius = 10; duration = 212; initialDepth = 2636.403311; finalDepth = 2637.214629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2637.214629 # Seafloor depth:-2687.214629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2686.403311 meters looking forward 0.000000 meters along route # Maximum depth: 2686.403311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2636.403311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076302; longitude = -173.700180; captureRadius = 10; duration = 212; initialDepth = 2637.891249; finalDepth = 2636.403311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2636.403311 # Seafloor depth:-2686.403311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2687.891249 meters looking forward 0.000000 meters along route # Maximum depth: 2687.891249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2637.891249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.075669; longitude = -173.699499; captureRadius = 10; duration = 212; initialDepth = 2639.719787; finalDepth = 2637.891249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2637.891249 # Seafloor depth:-2687.891249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2689.719787 meters looking forward 0.000000 meters along route # Maximum depth: 2689.719787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2639.719787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.075036; longitude = -173.698817; captureRadius = 10; duration = 212; initialDepth = 2639.575321; finalDepth = 2639.719787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2639.719787 # Seafloor depth:-2689.719787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2689.575321 meters looking forward 0.000000 meters along route # Maximum depth: 2689.575321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2639.575321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.074403; longitude = -173.698134; captureRadius = 10; duration = 212; initialDepth = 2647.930598; finalDepth = 2639.575321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2639.575321 # Seafloor depth:-2689.575321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2697.930598 meters looking forward 0.000000 meters along route # Maximum depth: 2697.930598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2647.930598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.073771; longitude = -173.697453; captureRadius = 10; duration = 212; initialDepth = 2651.798974; finalDepth = 2647.930598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2647.930598 # Seafloor depth:-2697.930598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.162924 meters # Minimum depth: 2701.798974 meters looking forward 0.000000 meters along route # Maximum depth: 2701.798974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2719.268921 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2651.798974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.073107; longitude = -173.696739; captureRadius = 10; duration = 212; initialDepth = 2644.954468; finalDepth = 2651.798974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2651.798974 # Seafloor depth:-2701.798974 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:2644.954468 # Seafloor depth:-2694.954468 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; 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 106.162924 meters # Minimum depth: 2694.954468 meters looking forward 0.000000 meters along route # Maximum depth: 2694.954468 meters looking forward 0.000000 meters along route # Vehicle depth: 2644.954468 meters behavior waypoint { latitude = -15.072445; longitude = -173.696025; captureRadius = 10; duration = 1322; depth = 2644.954468; speed = 1.500000; } # # 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 2644.954468 meters set by local depth and desired altitude behavior descend { duration = 7755; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 2634.954468; minAltitude = 50.000000; } # # 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 106.162924 meters # Minimum depth: 2694.954468 meters looking forward 0.000000 meters along route # Maximum depth: 2694.954468 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = -15.072445; longitude = -173.696025; captureRadius = 10; duration = 1000; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 42.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 42.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 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 = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################