# 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_2v4.rte # Mission File: MAUV_Mata_2v4.cfg # Distance: 76901.040212 (m) # Estimated Time: 55767 (s) 15.491 (hr) # Abort Time: 59709 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 3290 (s) # Way Points: 109 # Route Points: 725 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 80 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 2923.053489 (m) # Abort Vehicle Depth: 2960.553489 (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 -173.760246 -15.123371 -2613.107605 0.000000 3 # 1 -173.764898 -15.107189 -1973.334778 1860.335524 4 # 2 -173.762169 -15.104447 -1876.150665 2282.661550 3 # 3 -173.757983 -15.101373 -1664.760742 2847.128609 1 # 4 -173.754820 -15.099023 -1515.838654 3275.475639 1 # 5 -173.751843 -15.097034 -1369.064178 3664.143367 1 # 6 -173.748246 -15.094443 -1172.723022 4145.843573 1 # 7 -173.744121 -15.091520 -1350.839874 4695.084676 1 # 8 -173.740989 -15.089109 -1504.608551 5124.956661 1 # 9 -173.739315 -15.088115 -1553.034485 5336.011691 1 # 10 -173.735656 -15.087090 -1642.190186 5745.676750 4 # 11 -173.732803 -15.086849 -1777.173035 6053.756823 3 # 12 -173.727407 -15.085312 -1939.947266 6658.684046 1 # 13 -173.722291 -15.084137 -2095.049133 7224.226459 1 # 14 -173.717639 -15.083142 -2200.182373 7736.667748 1 # 15 -173.712615 -15.082781 -2349.263855 8278.621631 1 # 16 -173.708119 -15.082570 -2547.013184 8762.860464 1 # 17 -173.703406 -15.082419 -2668.446594 9270.154241 1 # 18 -173.698940 -15.081334 -2686.991943 9765.391550 1 # 19 -173.697452 -15.080973 -2693.371338 9930.383325 4 # 20 -173.698258 -15.077688 -2695.616089 10304.292437 3 # 21 -173.702909 -15.078773 -2628.372620 10818.868078 1 # 22 -173.708708 -15.078803 -2491.177734 11442.736393 1 # 23 -173.714631 -15.078773 -2297.225342 12079.947400 1 # 24 -173.718073 -15.078954 -2227.696472 12450.784379 1 # 25 -173.721887 -15.079406 -2129.532532 12864.141092 1 # 26 -173.725516 -15.080039 -2047.600037 13260.795725 1 # 27 -173.729237 -15.080852 -2010.205963 13671.102772 1 # 28 -173.732586 -15.082208 -1887.039948 14061.424180 1 # 29 -173.736896 -15.084408 -1782.809601 14585.188747 4 # 30 -173.738074 -15.083293 -1857.854645 14762.112807 3 # 31 -173.733361 -15.080882 -1988.917145 15335.126940 1 # 32 -173.729826 -15.079436 -2114.892700 15747.757212 1 # 33 -173.725795 -15.078683 -2150.272888 16189.363047 1 # 34 -173.722291 -15.077990 -2194.007629 16574.061246 1 # 35 -173.718445 -15.077598 -2319.378174 16990.092792 1 # 36 -173.714755 -15.077357 -2392.804565 17387.966500 1 # 37 -173.708956 -15.077417 -2522.239136 18011.868356 1 # 38 -173.703220 -15.077357 -2660.316589 18628.990195 1 # 39 -173.696863 -15.075971 -2698.916748 19329.889187 4 # 40 -173.695312 -15.081877 -2642.162781 20004.754843 3 # 41 -173.698258 -15.082570 -2683.802124 20330.835766 1 # 42 -173.703127 -15.083775 -2661.601624 20871.357266 1 # 43 -173.708026 -15.084016 -2630.990417 21399.056642 1 # 44 -173.712491 -15.084107 -2425.803284 21879.499145 1 # 45 -173.716988 -15.084589 -2301.203003 22366.214244 1 # 46 -173.721515 -15.085282 -2189.028931 22859.229919 1 # 47 -173.726353 -15.086638 -2054.364868 23400.917285 1 # 48 -173.732059 -15.087934 -1864.891724 24031.308002 1 # 49 -173.736152 -15.088838 -1739.713623 24482.858521 4 # 50 -173.735749 -15.085282 -1694.375977 24878.971619 3 # 51 -173.732152 -15.090194 -1981.012115 25546.456737 1 # 52 -173.733268 -15.095256 -2052.412292 26119.652397 1 # 53 -173.747098 -15.105080 -1799.674652 27962.624972 3 # 54 -173.742354 -15.120358 -2588.496399 29729.567732 4 # 55 -173.744028 -15.121081 -2545.782227 29926.621267 3 # 56 -173.749083 -15.104116 -1768.612854 31882.184165 4 # 57 -173.750540 -15.105261 -1893.682556 32083.772538 3 # 58 -173.745331 -15.121623 -2508.149536 33980.122266 4 # 59 -173.746757 -15.122286 -2565.760193 34150.168252 3 # 60 -173.751409 -15.107732 -2029.981567 35837.564124 3 # 61 -173.755595 -15.110896 -2222.074829 36408.082102 3 # 62 -173.760680 -15.104628 -1869.156982 37291.756333 4 # 63 -173.761146 -15.101102 -1837.364380 37685.381235 3 # 64 -173.768991 -15.109269 -2196.721008 38922.287221 1 # 65 -173.775410 -15.113698 -2465.930115 39769.209739 1 # 66 -173.786480 -15.115054 -2874.257874 40969.426348 4 # 67 -173.786015 -15.116772 -2876.171021 41166.123762 3 # 68 -173.774852 -15.115235 -2504.998962 42378.906477 1 # 69 -173.768154 -15.110896 -2191.508789 43244.897719 1 # 70 -173.764402 -15.106798 -1950.983551 43852.180269 1 # 71 -173.761084 -15.103573 -1813.966919 44357.065695 4 # 72 -173.760029 -15.104809 -1890.143829 44534.856658 3 # 73 -173.767006 -15.112222 -2268.223633 45647.067723 1 # 74 -173.774387 -15.116772 -2536.416199 46587.383303 1 # 75 -173.785333 -15.118279 -2882.412720 47776.579704 1 # 76 -173.784775 -15.120087 -2888.105286 47985.580620 1 # 77 -173.773829 -15.118490 -2613.499817 49176.206089 1 # 78 -173.766200 -15.113698 -2367.680664 50153.433116 1 # 79 -173.758944 -15.106104 -1996.085052 51300.715140 4 # 80 -173.757890 -15.107340 -2075.735474 51478.436318 3 # 81 -173.765239 -15.115205 -2480.050537 52654.585061 1 # 82 -173.773270 -15.120117 -2604.427734 53675.407622 1 # 83 -173.783876 -15.121744 -2859.731934 54830.383062 3 # 84 -173.786356 -15.113216 -2935.275818 55811.632009 3 # 85 -173.776061 -15.112071 -2504.074524 56926.296953 1 # 86 -173.769890 -15.107882 -2220.556274 57736.109942 1 # 87 -173.761983 -15.099565 -1927.700195 58989.730488 4 # 88 -173.762820 -15.098390 -2005.333984 59147.952157 3 # 89 -173.770821 -15.106526 -2300.966614 60393.892849 1 # 90 -173.776774 -15.110504 -2644.289978 61171.126485 1 # 91 -173.784434 -15.111257 -2926.912842 61999.325357 4 # 92 -173.784620 -15.109449 -2952.936523 62200.519165 3 # 93 -173.777271 -15.108726 -2718.159485 62995.105945 1 # 94 -173.771782 -15.105110 -2416.937073 63708.519504 1 # 95 -173.763595 -15.097426 -2062.161865 64933.081724 3 # 96 -173.762665 -15.103664 -1889.195475 65630.959484 1 # 97 -173.757890 -15.109781 -2213.528971 66481.059865 3 # 98 -173.764309 -15.116561 -2553.377441 67501.043996 1 # 99 -173.772712 -15.121654 -2601.256510 68566.444596 1 # 100 -173.783286 -15.123341 -2805.634440 69719.108742 4 # 101 -173.782821 -15.125240 -2749.696615 69935.191650 3 # 102 -173.772216 -15.123522 -2645.522135 71091.680988 1 # 103 -173.763130 -15.118038 -2579.149089 72242.295494 1 # 104 -173.756804 -15.111077 -2252.992839 73270.449569 4 # 105 -173.755564 -15.112131 -2278.394368 73447.763798 3 # 106 -173.761890 -15.119363 -2579.555013 74498.614095 1 # 107 -173.771472 -15.124968 -2658.677734 75701.714048 1 # 108 -173.782449 -15.126867 -2742.270182 76901.040212 4 # # A total of 725 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 76901.040212 #define MISSION_TIME 55767 #define MISSION_TIMEOUT 59709 #define DEPTH_MAX 2923.053489 #define DEPTH_ABORT 2960.553489 #define ALTITUDE_DESIRED 75.000000 #define ALTITUDE_MIN 75.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 2528.107605 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 3290; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 100.434372 meters # Minimum depth: 2742.270182 meters looking forward 0.000000 meters along route # Maximum depth: 2742.270182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2667.270182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.126867; longitude = -173.782449; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2679.987270; finalDepth = 2667.270182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2667.270182 # Seafloor depth:-2742.270182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2754.987270 meters looking forward 0.000000 meters along route # Maximum depth: 2754.987270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2679.987270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.126746; longitude = -173.781752; captureRadius = 10; duration = 200; initialDepth = 2697.136563; finalDepth = 2679.987270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2679.98727 # Seafloor depth:-2754.987270 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2772.136563 meters looking forward 0.000000 meters along route # Maximum depth: 2772.136563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2697.136563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.126588; longitude = -173.780837; captureRadius = 10; duration = 200; initialDepth = 2687.368976; finalDepth = 2697.136563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2697.136563 # Seafloor depth:-2772.136563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2762.368976 meters looking forward 0.000000 meters along route # Maximum depth: 2762.368976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2687.368976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.126427; longitude = -173.779906; captureRadius = 10; duration = 200; initialDepth = 2682.869170; finalDepth = 2687.368976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2687.368976 # Seafloor depth:-2762.368976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2757.869170 meters looking forward 0.000000 meters along route # Maximum depth: 2757.869170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2682.869170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.126266; longitude = -173.778976; captureRadius = 10; duration = 200; initialDepth = 2668.756332; finalDepth = 2682.869170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2682.86917 # Seafloor depth:-2757.869170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2743.756332 meters looking forward 0.000000 meters along route # Maximum depth: 2743.756332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2668.756332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.126105; longitude = -173.778046; captureRadius = 10; duration = 200; initialDepth = 2655.539445; finalDepth = 2668.756332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2668.756332 # Seafloor depth:-2743.756332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2730.539445 meters looking forward 0.000000 meters along route # Maximum depth: 2730.539445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2655.539445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125944; longitude = -173.777116; captureRadius = 10; duration = 200; initialDepth = 2602.316523; finalDepth = 2655.539445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2655.539445 # Seafloor depth:-2730.539445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2677.316523 meters looking forward 0.000000 meters along route # Maximum depth: 2677.316523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2602.316523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125784; longitude = -173.776185; captureRadius = 10; duration = 200; initialDepth = 2585.754101; finalDepth = 2602.316523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2602.316523 # Seafloor depth:-2677.316523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2660.754101 meters looking forward 0.000000 meters along route # Maximum depth: 2660.754101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2585.754101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125623; longitude = -173.775255; captureRadius = 10; duration = 200; initialDepth = 2581.460817; finalDepth = 2585.754101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2585.754101 # Seafloor depth:-2660.754101 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2656.460817 meters looking forward 0.000000 meters along route # Maximum depth: 2656.460817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2581.460817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125462; longitude = -173.774325; captureRadius = 10; duration = 200; initialDepth = 2579.058237; finalDepth = 2581.460817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2581.460817 # Seafloor depth:-2656.460817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2654.058237 meters looking forward 0.000000 meters along route # Maximum depth: 2654.058237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2579.058237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125300; longitude = -173.773388; captureRadius = 10; duration = 200; initialDepth = 2580.856531; finalDepth = 2579.058237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2579.058237 # Seafloor depth:-2654.058237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 100.434372 meters # Minimum depth: 2655.856531 meters looking forward 0.000000 meters along route # Maximum depth: 2655.856531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2580.856531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125140; longitude = -173.772464; captureRadius = 10; duration = 200; initialDepth = 2583.677734; finalDepth = 2580.856531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2580.856531 # Seafloor depth:-2655.856531 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 100.434372 meters # Minimum depth: 2658.677734 meters looking forward 0.000000 meters along route # Maximum depth: 2658.677734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2583.677734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124968; longitude = -173.771472; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2585.987418; finalDepth = 2583.677734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2583.677734 # Seafloor depth:-2658.677734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2660.987418 meters looking forward 0.000000 meters along route # Maximum depth: 2660.987418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2585.987418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124243; longitude = -173.770231; captureRadius = 10; duration = 200; initialDepth = 2584.341845; finalDepth = 2585.987418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2585.987418 # Seafloor depth:-2660.987418 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2659.341845 meters looking forward 0.000000 meters along route # Maximum depth: 2659.341845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2584.341845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123753; longitude = -173.769394; captureRadius = 10; duration = 200; initialDepth = 2581.170717; finalDepth = 2584.341845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2584.341845 # Seafloor depth:-2659.341845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2656.170717 meters looking forward 0.000000 meters along route # Maximum depth: 2656.170717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2581.170717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123263; longitude = -173.768557; captureRadius = 10; duration = 200; initialDepth = 2574.685392; finalDepth = 2581.170717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2581.170717 # Seafloor depth:-2656.170717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2649.685392 meters looking forward 0.000000 meters along route # Maximum depth: 2649.685392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2574.685392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122769; longitude = -173.767711; captureRadius = 10; duration = 200; initialDepth = 2567.123771; finalDepth = 2574.685392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2574.685392 # Seafloor depth:-2649.685392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2642.123771 meters looking forward 0.000000 meters along route # Maximum depth: 2642.123771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2567.123771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122284; longitude = -173.766882; captureRadius = 10; duration = 200; initialDepth = 2539.637884; finalDepth = 2567.123771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2567.123771 # Seafloor depth:-2642.123771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2614.637884 meters looking forward 0.000000 meters along route # Maximum depth: 2614.637884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2539.637884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121774; longitude = -173.766011; captureRadius = 10; duration = 200; initialDepth = 2522.487110; finalDepth = 2539.637884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2539.637884 # Seafloor depth:-2614.637884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2597.487110 meters looking forward 0.000000 meters along route # Maximum depth: 2597.487110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2522.487110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121304; longitude = -173.765208; captureRadius = 10; duration = 200; initialDepth = 2512.200814; finalDepth = 2522.487110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2522.48711 # Seafloor depth:-2597.487110 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2587.200814 meters looking forward 0.000000 meters along route # Maximum depth: 2587.200814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2512.200814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120815; longitude = -173.764371; captureRadius = 10; duration = 200; initialDepth = 2514.026735; finalDepth = 2512.200814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2512.200814 # Seafloor depth:-2587.200814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2589.026735 meters looking forward 0.000000 meters along route # Maximum depth: 2589.026735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2514.026735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120325; longitude = -173.763533; captureRadius = 10; duration = 200; initialDepth = 2515.178787; finalDepth = 2514.026735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2514.026735 # Seafloor depth:-2589.026735 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.434372 meters # Minimum depth: 2590.178787 meters looking forward 0.000000 meters along route # Maximum depth: 2590.178787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2515.178787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119835; longitude = -173.762696; captureRadius = 10; duration = 200; initialDepth = 2504.555013; finalDepth = 2515.178787; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2515.178787 # Seafloor depth:-2590.178787 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 100.434372 meters # Minimum depth: 2579.555013 meters looking forward 0.000000 meters along route # Maximum depth: 2579.555013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2504.555013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119363; longitude = -173.761890; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2486.595603; finalDepth = 2504.555013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2504.555013 # Seafloor depth:-2579.555013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2561.595603 meters looking forward 0.000000 meters along route # Maximum depth: 2561.595603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.595603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118584; longitude = -173.761208; captureRadius = 10; duration = 200; initialDepth = 2461.139111; finalDepth = 2486.595603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2486.595603 # Seafloor depth:-2561.595603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2536.139111 meters looking forward 0.000000 meters along route # Maximum depth: 2536.139111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2461.139111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117887; longitude = -173.760598; captureRadius = 10; duration = 200; initialDepth = 2434.967993; finalDepth = 2461.139111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2461.139111 # Seafloor depth:-2536.139111 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2509.967993 meters looking forward 0.000000 meters along route # Maximum depth: 2509.967993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2434.967993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117164; longitude = -173.759966; captureRadius = 10; duration = 200; initialDepth = 2407.534827; finalDepth = 2434.967993; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2434.967993 # Seafloor depth:-2509.967993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2482.534827 meters looking forward 0.000000 meters along route # Maximum depth: 2482.534827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2407.534827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116440; longitude = -173.759333; captureRadius = 10; duration = 200; initialDepth = 2379.911837; finalDepth = 2407.534827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2407.534827 # Seafloor depth:-2482.534827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2454.911837 meters looking forward 0.000000 meters along route # Maximum depth: 2454.911837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2379.911837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115712; longitude = -173.758696; captureRadius = 10; duration = 200; initialDepth = 2349.042179; finalDepth = 2379.911837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2379.911837 # Seafloor depth:-2454.911837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2424.042179 meters looking forward 0.000000 meters along route # Maximum depth: 2424.042179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2349.042179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114967; longitude = -173.758045; captureRadius = 10; duration = 200; initialDepth = 2315.273572; finalDepth = 2349.042179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2349.042179 # Seafloor depth:-2424.042179 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2390.273572 meters looking forward 0.000000 meters along route # Maximum depth: 2390.273572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2315.273572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114271; longitude = -173.757435; captureRadius = 10; duration = 200; initialDepth = 2281.447131; finalDepth = 2315.273572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2315.273572 # Seafloor depth:-2390.273572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2356.447131 meters looking forward 0.000000 meters along route # Maximum depth: 2356.447131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2281.447131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113548; longitude = -173.756803; captureRadius = 10; duration = 200; initialDepth = 2241.919531; finalDepth = 2281.447131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2281.447131 # Seafloor depth:-2356.447131 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.434372 meters # Minimum depth: 2316.919531 meters looking forward 0.000000 meters along route # Maximum depth: 2316.919531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2241.919531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112824; longitude = -173.756170; captureRadius = 10; duration = 200; initialDepth = 2203.394368; finalDepth = 2241.919531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2241.919531 # Seafloor depth:-2316.919531 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 100.434372 meters # Minimum depth: 2278.394368 meters looking forward 0.000000 meters along route # Maximum depth: 2278.394368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2203.394368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112131; longitude = -173.755564; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2193.755249; finalDepth = 2203.394368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2203.394368 # Seafloor depth:-2278.394368 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 100.434372 meters # Minimum depth: 2268.755249 meters looking forward 0.000000 meters along route # Maximum depth: 2268.755249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2193.755249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111683; longitude = -173.756091; captureRadius = 10; duration = 200; initialDepth = 2177.992839; finalDepth = 2193.755249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2193.755249 # Seafloor depth:-2268.755249 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 100.434372 meters # Minimum depth: 2252.992839 meters looking forward 0.000000 meters along route # Maximum depth: 2252.992839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2177.992839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111077; longitude = -173.756804; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2211.841867; finalDepth = 2177.992839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2177.992839 # Seafloor depth:-2252.992839 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2286.841867 meters looking forward 0.000000 meters along route # Maximum depth: 2286.841867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2211.841867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111649; longitude = -173.757325; captureRadius = 10; duration = 200; initialDepth = 2252.818645; finalDepth = 2211.841867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2211.841867 # Seafloor depth:-2286.841867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2327.818645 meters looking forward 0.000000 meters along route # Maximum depth: 2327.818645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2252.818645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112372; longitude = -173.757982; captureRadius = 10; duration = 200; initialDepth = 2289.165994; finalDepth = 2252.818645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2252.818645 # Seafloor depth:-2327.818645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2364.165994 meters looking forward 0.000000 meters along route # Maximum depth: 2364.165994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2289.165994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113056; longitude = -173.758603; captureRadius = 10; duration = 200; initialDepth = 2325.048580; finalDepth = 2289.165994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2289.165994 # Seafloor depth:-2364.165994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2400.048580 meters looking forward 0.000000 meters along route # Maximum depth: 2400.048580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2325.048580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113772; longitude = -173.759254; captureRadius = 10; duration = 200; initialDepth = 2359.147332; finalDepth = 2325.048580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2325.04858 # Seafloor depth:-2400.048580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2434.147332 meters looking forward 0.000000 meters along route # Maximum depth: 2434.147332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2359.147332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114489; longitude = -173.759905; captureRadius = 10; duration = 200; initialDepth = 2395.831457; finalDepth = 2359.147332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2359.147332 # Seafloor depth:-2434.147332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2470.831457 meters looking forward 0.000000 meters along route # Maximum depth: 2470.831457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2395.831457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115205; longitude = -173.760556; captureRadius = 10; duration = 200; initialDepth = 2422.296660; finalDepth = 2395.831457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2395.831457 # Seafloor depth:-2470.831457 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2497.296660 meters looking forward 0.000000 meters along route # Maximum depth: 2497.296660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2422.296660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115922; longitude = -173.761208; captureRadius = 10; duration = 200; initialDepth = 2454.683472; finalDepth = 2422.296660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2422.29666 # Seafloor depth:-2497.296660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2529.683472 meters looking forward 0.000000 meters along route # Maximum depth: 2529.683472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2454.683472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116639; longitude = -173.761859; captureRadius = 10; duration = 200; initialDepth = 2480.818115; finalDepth = 2454.683472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2454.683472 # Seafloor depth:-2529.683472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.434372 meters # Minimum depth: 2555.818115 meters looking forward 0.000000 meters along route # Maximum depth: 2555.818115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2480.818115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117355; longitude = -173.762510; captureRadius = 10; duration = 200; initialDepth = 2504.149089; finalDepth = 2480.818115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2480.818115 # Seafloor depth:-2555.818115 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 100.434372 meters # Minimum depth: 2579.149089 meters looking forward 0.000000 meters along route # Maximum depth: 2579.149089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2504.149089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118038; longitude = -173.763130; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2517.759320; finalDepth = 2504.149089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2504.149089 # Seafloor depth:-2579.149089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2592.759320 meters looking forward 0.000000 meters along route # Maximum depth: 2592.759320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2517.759320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118520; longitude = -173.763929; captureRadius = 10; duration = 200; initialDepth = 2524.338254; finalDepth = 2517.759320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2517.75932 # Seafloor depth:-2592.759320 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2599.338254 meters looking forward 0.000000 meters along route # Maximum depth: 2599.338254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2524.338254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119011; longitude = -173.764743; captureRadius = 10; duration = 200; initialDepth = 2512.075238; finalDepth = 2524.338254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2524.338254 # Seafloor depth:-2599.338254 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2587.075238 meters looking forward 0.000000 meters along route # Maximum depth: 2587.075238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2512.075238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119516; longitude = -173.765580; captureRadius = 10; duration = 200; initialDepth = 2511.029881; finalDepth = 2512.075238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2512.075238 # Seafloor depth:-2587.075238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2586.029881 meters looking forward 0.000000 meters along route # Maximum depth: 2586.029881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.029881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120022; longitude = -173.766417; captureRadius = 10; duration = 200; initialDepth = 2527.943505; finalDepth = 2511.029881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2511.029881 # Seafloor depth:-2586.029881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2602.943505 meters looking forward 0.000000 meters along route # Maximum depth: 2602.943505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2527.943505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120527; longitude = -173.767254; captureRadius = 10; duration = 200; initialDepth = 2551.485150; finalDepth = 2527.943505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2527.943505 # Seafloor depth:-2602.943505 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2626.485150 meters looking forward 0.000000 meters along route # Maximum depth: 2626.485150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2551.485150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121051; longitude = -173.768122; captureRadius = 10; duration = 200; initialDepth = 2541.958268; finalDepth = 2551.485150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2551.48515 # Seafloor depth:-2626.485150 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2616.958268 meters looking forward 0.000000 meters along route # Maximum depth: 2616.958268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2541.958268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121538; longitude = -173.768929; captureRadius = 10; duration = 200; initialDepth = 2540.360568; finalDepth = 2541.958268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2541.958268 # Seafloor depth:-2616.958268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2615.360568 meters looking forward 0.000000 meters along route # Maximum depth: 2615.360568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2540.360568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122045; longitude = -173.769770; captureRadius = 10; duration = 200; initialDepth = 2542.257034; finalDepth = 2540.360568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2540.360568 # Seafloor depth:-2615.360568 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2617.257034 meters looking forward 0.000000 meters along route # Maximum depth: 2617.257034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2542.257034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122549; longitude = -173.770604; captureRadius = 10; duration = 200; initialDepth = 2557.777583; finalDepth = 2542.257034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2542.257034 # Seafloor depth:-2617.257034 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 100.434372 meters # Minimum depth: 2632.777583 meters looking forward 0.000000 meters along route # Maximum depth: 2632.777583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2557.777583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123040; longitude = -173.771417; captureRadius = 10; duration = 200; initialDepth = 2570.522135; finalDepth = 2557.777583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2557.777583 # Seafloor depth:-2632.777583 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 100.434372 meters # Minimum depth: 2645.522135 meters looking forward 0.000000 meters along route # Maximum depth: 2645.522135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2570.522135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123522; longitude = -173.772216; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2595.481866; finalDepth = 2570.522135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2570.522135 # Seafloor depth:-2645.522135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2670.481866 meters looking forward 0.000000 meters along route # Maximum depth: 2670.481866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2595.481866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123728; longitude = -173.773487; captureRadius = 10; duration = 200; initialDepth = 2595.752658; finalDepth = 2595.481866; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2595.481866 # Seafloor depth:-2670.481866 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2670.752658 meters looking forward 0.000000 meters along route # Maximum depth: 2670.752658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2595.752658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123879; longitude = -173.774418; captureRadius = 10; duration = 200; initialDepth = 2611.721286; finalDepth = 2595.752658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2595.752658 # Seafloor depth:-2670.752658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2686.721286 meters looking forward 0.000000 meters along route # Maximum depth: 2686.721286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2611.721286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124029; longitude = -173.775348; captureRadius = 10; duration = 200; initialDepth = 2631.912394; finalDepth = 2611.721286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2611.721286 # Seafloor depth:-2686.721286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2706.912394 meters looking forward 0.000000 meters along route # Maximum depth: 2706.912394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2631.912394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124180; longitude = -173.776278; captureRadius = 10; duration = 200; initialDepth = 2658.669434; finalDepth = 2631.912394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2631.912394 # Seafloor depth:-2706.912394 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2733.669434 meters looking forward 0.000000 meters along route # Maximum depth: 2733.669434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2658.669434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124331; longitude = -173.777209; captureRadius = 10; duration = 200; initialDepth = 2673.273166; finalDepth = 2658.669434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2658.669434 # Seafloor depth:-2733.669434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2748.273166 meters looking forward 0.000000 meters along route # Maximum depth: 2748.273166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2673.273166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124481; longitude = -173.778139; captureRadius = 10; duration = 200; initialDepth = 2688.584256; finalDepth = 2673.273166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2673.273166 # Seafloor depth:-2748.273166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2763.584256 meters looking forward 0.000000 meters along route # Maximum depth: 2763.584256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2688.584256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124632; longitude = -173.779069; captureRadius = 10; duration = 200; initialDepth = 2688.610202; finalDepth = 2688.584256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2688.584256 # Seafloor depth:-2763.584256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2763.610202 meters looking forward 0.000000 meters along route # Maximum depth: 2763.610202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2688.610202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124783; longitude = -173.779999; captureRadius = 10; duration = 200; initialDepth = 2666.390801; finalDepth = 2688.610202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2688.610202 # Seafloor depth:-2763.610202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2741.390801 meters looking forward 0.000000 meters along route # Maximum depth: 2741.390801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2666.390801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124933; longitude = -173.780930; captureRadius = 10; duration = 200; initialDepth = 2657.614895; finalDepth = 2666.390801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2666.390801 # Seafloor depth:-2741.390801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.434372 meters # Minimum depth: 2732.614895 meters looking forward 0.000000 meters along route # Maximum depth: 2732.614895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2657.614895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125084; longitude = -173.781860; captureRadius = 10; duration = 200; initialDepth = 2674.696615; finalDepth = 2657.614895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2657.614895 # Seafloor depth:-2732.614895 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 100.434372 meters # Minimum depth: 2749.696615 meters looking forward 0.000000 meters along route # Maximum depth: 2749.696615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2674.696615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.125240; longitude = -173.782821; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2683.407666; finalDepth = 2674.696615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2674.696615 # Seafloor depth:-2749.696615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 100.434372 meters # Minimum depth: 2758.407666 meters looking forward 0.000000 meters along route # Maximum depth: 2758.407666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2683.407666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.124227; longitude = -173.783069; captureRadius = 10; duration = 200; initialDepth = 2730.634440; finalDepth = 2683.407666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2683.407666 # Seafloor depth:-2758.407666 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 100.434372 meters # Minimum depth: 2805.634440 meters looking forward 0.000000 meters along route # Maximum depth: 2805.634440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2730.634440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123341; longitude = -173.783286; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2667.464138; finalDepth = 2730.634440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2730.63444 # Seafloor depth:-2805.634440 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2742.464138 meters looking forward 0.000000 meters along route # Maximum depth: 2742.464138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2667.464138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.123143; longitude = -173.782046; captureRadius = 10; duration = 200; initialDepth = 2638.706119; finalDepth = 2667.464138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2667.464138 # Seafloor depth:-2742.464138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2713.706119 meters looking forward 0.000000 meters along route # Maximum depth: 2713.706119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2638.706119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122995; longitude = -173.781116; captureRadius = 10; duration = 200; initialDepth = 2653.927653; finalDepth = 2638.706119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2638.706119 # Seafloor depth:-2713.706119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2728.927653 meters looking forward 0.000000 meters along route # Maximum depth: 2728.927653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2653.927653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122846; longitude = -173.780185; captureRadius = 10; duration = 200; initialDepth = 2660.433392; finalDepth = 2653.927653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2653.927653 # Seafloor depth:-2728.927653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2735.433392 meters looking forward 0.000000 meters along route # Maximum depth: 2735.433392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2660.433392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122698; longitude = -173.779255; captureRadius = 10; duration = 200; initialDepth = 2659.845391; finalDepth = 2660.433392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2660.433392 # Seafloor depth:-2735.433392 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2734.845391 meters looking forward 0.000000 meters along route # Maximum depth: 2734.845391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2659.845391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122549; longitude = -173.778325; captureRadius = 10; duration = 200; initialDepth = 2643.455420; finalDepth = 2659.845391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2659.845391 # Seafloor depth:-2734.845391 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2718.455420 meters looking forward 0.000000 meters along route # Maximum depth: 2718.455420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2643.455420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122401; longitude = -173.777395; captureRadius = 10; duration = 200; initialDepth = 2630.531274; finalDepth = 2643.455420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2643.45542 # Seafloor depth:-2718.455420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2705.531274 meters looking forward 0.000000 meters along route # Maximum depth: 2705.531274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2630.531274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122252; longitude = -173.776464; captureRadius = 10; duration = 200; initialDepth = 2605.565273; finalDepth = 2630.531274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2630.531274 # Seafloor depth:-2705.531274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2680.565273 meters looking forward 0.000000 meters along route # Maximum depth: 2680.565273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2605.565273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122104; longitude = -173.775534; captureRadius = 10; duration = 200; initialDepth = 2596.219666; finalDepth = 2605.565273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2605.565273 # Seafloor depth:-2680.565273 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2671.219666 meters looking forward 0.000000 meters along route # Maximum depth: 2671.219666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2596.219666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121955; longitude = -173.774600; captureRadius = 10; duration = 200; initialDepth = 2547.394531; finalDepth = 2596.219666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2596.219666 # Seafloor depth:-2671.219666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.434372 meters # Minimum depth: 2622.394531 meters looking forward 0.000000 meters along route # Maximum depth: 2622.394531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2547.394531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121807; longitude = -173.773673; captureRadius = 10; duration = 200; initialDepth = 2526.256510; finalDepth = 2547.394531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2547.394531 # Seafloor depth:-2622.394531 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 100.434372 meters # Minimum depth: 2601.256510 meters looking forward 0.000000 meters along route # Maximum depth: 2601.256510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2526.256510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121654; longitude = -173.772712; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2472.438050; finalDepth = 2526.256510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2526.25651 # Seafloor depth:-2601.256510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2547.438050 meters looking forward 0.000000 meters along route # Maximum depth: 2547.438050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2472.438050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121109; longitude = -173.771813; captureRadius = 10; duration = 200; initialDepth = 2522.107574; finalDepth = 2472.438050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2472.43805 # Seafloor depth:-2547.438050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2597.107574 meters looking forward 0.000000 meters along route # Maximum depth: 2597.107574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2522.107574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120599; longitude = -173.770972; captureRadius = 10; duration = 200; initialDepth = 2534.740528; finalDepth = 2522.107574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2522.107574 # Seafloor depth:-2597.107574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2609.740528 meters looking forward 0.000000 meters along route # Maximum depth: 2609.740528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2534.740528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120094; longitude = -173.770138; captureRadius = 10; duration = 200; initialDepth = 2540.550016; finalDepth = 2534.740528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2534.740528 # Seafloor depth:-2609.740528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2615.550016 meters looking forward 0.000000 meters along route # Maximum depth: 2615.550016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2540.550016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119587; longitude = -173.769301; captureRadius = 10; duration = 200; initialDepth = 2539.416173; finalDepth = 2540.550016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2540.550016 # Seafloor depth:-2615.550016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2614.416173 meters looking forward 0.000000 meters along route # Maximum depth: 2614.416173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2539.416173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119062; longitude = -173.768436; captureRadius = 10; duration = 200; initialDepth = 2538.277608; finalDepth = 2539.416173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2539.416173 # Seafloor depth:-2614.416173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2613.277608 meters looking forward 0.000000 meters along route # Maximum depth: 2613.277608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2538.277608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118572; longitude = -173.767627; captureRadius = 10; duration = 200; initialDepth = 2525.554978; finalDepth = 2538.277608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2538.277608 # Seafloor depth:-2613.277608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2600.554978 meters looking forward 0.000000 meters along route # Maximum depth: 2600.554978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2525.554978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118064; longitude = -173.766789; captureRadius = 10; duration = 200; initialDepth = 2514.438981; finalDepth = 2525.554978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2525.554978 # Seafloor depth:-2600.554978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2589.438981 meters looking forward 0.000000 meters along route # Maximum depth: 2589.438981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2514.438981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117557; longitude = -173.765952; captureRadius = 10; duration = 200; initialDepth = 2500.915586; finalDepth = 2514.438981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2514.438981 # Seafloor depth:-2589.438981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.434372 meters # Minimum depth: 2575.915586 meters looking forward 0.000000 meters along route # Maximum depth: 2575.915586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2500.915586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117050; longitude = -173.765115; captureRadius = 10; duration = 200; initialDepth = 2478.377441; finalDepth = 2500.915586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2500.915586 # Seafloor depth:-2575.915586 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 100.434372 meters # Minimum depth: 2553.377441 meters looking forward 0.000000 meters along route # Maximum depth: 2553.377441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2478.377441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116561; longitude = -173.764309; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2452.986116; finalDepth = 2478.377441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2478.377441 # Seafloor depth:-2553.377441 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2527.986116 meters looking forward 0.000000 meters along route # Maximum depth: 2527.986116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2452.986116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116037; longitude = -173.763812; captureRadius = 10; duration = 200; initialDepth = 2420.819488; finalDepth = 2452.986116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2452.986116 # Seafloor depth:-2527.986116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2495.819488 meters looking forward 0.000000 meters along route # Maximum depth: 2495.819488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2420.819488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115349; longitude = -173.763161; captureRadius = 10; duration = 200; initialDepth = 2385.990249; finalDepth = 2420.819488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2420.819488 # Seafloor depth:-2495.819488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2460.990249 meters looking forward 0.000000 meters along route # Maximum depth: 2460.990249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2385.990249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114661; longitude = -173.762510; captureRadius = 10; duration = 200; initialDepth = 2353.817751; finalDepth = 2385.990249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2385.990249 # Seafloor depth:-2460.990249 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2428.817751 meters looking forward 0.000000 meters along route # Maximum depth: 2428.817751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2353.817751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113973; longitude = -173.761859; captureRadius = 10; duration = 200; initialDepth = 2319.969743; finalDepth = 2353.817751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2353.817751 # Seafloor depth:-2428.817751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2394.969743 meters looking forward 0.000000 meters along route # Maximum depth: 2394.969743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2319.969743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113276; longitude = -173.761199; captureRadius = 10; duration = 200; initialDepth = 2302.737121; finalDepth = 2319.969743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2319.969743 # Seafloor depth:-2394.969743 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2377.737121 meters looking forward 0.000000 meters along route # Maximum depth: 2377.737121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2302.737121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112598; longitude = -173.760556; captureRadius = 10; duration = 200; initialDepth = 2270.530217; finalDepth = 2302.737121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2302.737121 # Seafloor depth:-2377.737121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2345.530217 meters looking forward 0.000000 meters along route # Maximum depth: 2345.530217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2270.530217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111910; longitude = -173.759905; captureRadius = 10; duration = 200; initialDepth = 2226.075475; finalDepth = 2270.530217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2270.530217 # Seafloor depth:-2345.530217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2301.075475 meters looking forward 0.000000 meters along route # Maximum depth: 2301.075475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2226.075475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111197; longitude = -173.759230; captureRadius = 10; duration = 200; initialDepth = 2180.864938; finalDepth = 2226.075475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2226.075475 # Seafloor depth:-2301.075475 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 100.434372 meters # Minimum depth: 2255.864938 meters looking forward 0.000000 meters along route # Maximum depth: 2255.864938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2180.864938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110474; longitude = -173.758546; captureRadius = 10; duration = 200; initialDepth = 2138.528971; finalDepth = 2180.864938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2180.864938 # Seafloor depth:-2255.864938 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 100.434372 meters # Minimum depth: 2213.528971 meters looking forward 0.000000 meters along route # Maximum depth: 2213.528971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2138.528971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109781; longitude = -173.757890; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2093.318620; finalDepth = 2138.528971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2138.528971 # Seafloor depth:-2213.528971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.434372 meters # Minimum depth: 2168.318620 meters looking forward 0.000000 meters along route # Maximum depth: 2168.318620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2093.318620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108756; longitude = -173.758689; captureRadius = 10; duration = 200; initialDepth = 2045.150879; finalDepth = 2093.318620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2093.31862 # Seafloor depth:-2168.318620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.434372 meters # Minimum depth: 2120.150879 meters looking forward 0.000000 meters along route # Maximum depth: 2120.150879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2045.150879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108033; longitude = -173.759254; captureRadius = 10; duration = 200; initialDepth = 1984.240462; finalDepth = 2045.150879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2045.150879 # Seafloor depth:-2120.150879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.434372 meters # Minimum depth: 2059.240462 meters looking forward 0.000000 meters along route # Maximum depth: 2059.240462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1984.240462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107310; longitude = -173.759819; captureRadius = 10; duration = 200; initialDepth = 1937.807722; finalDepth = 1984.240462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1984.240462 # Seafloor depth:-2059.240462 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.434372 meters # Minimum depth: 2012.807722 meters looking forward 0.000000 meters along route # Maximum depth: 2012.807722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1937.807722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106587; longitude = -173.760383; captureRadius = 10; duration = 200; initialDepth = 1881.481904; finalDepth = 1937.807722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1937.807722 # Seafloor depth:-2012.807722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.434372 meters # Minimum depth: 1956.481904 meters looking forward 0.000000 meters along route # Maximum depth: 1956.481904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1881.481904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105863; longitude = -173.760948; captureRadius = 10; duration = 200; initialDepth = 1815.540372; finalDepth = 1881.481904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1881.481904 # Seafloor depth:-1956.481904 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.434372 meters # Minimum depth: 1890.540372 meters looking forward 0.000000 meters along route # Maximum depth: 1890.540372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1815.540372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105140; longitude = -173.761512; captureRadius = 10; duration = 200; initialDepth = 1797.595720; finalDepth = 1815.540372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1815.540372 # Seafloor depth:-1890.540372 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.434372 meters # Minimum depth: 1872.595720 meters looking forward 0.000000 meters along route # Maximum depth: 1872.595720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1797.595720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104417; longitude = -173.762077; captureRadius = 10; duration = 200; initialDepth = 1814.195475; finalDepth = 1797.595720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1797.59572 # Seafloor depth:-1872.595720 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 100.434372 meters # Minimum depth: 1889.195475 meters looking forward 0.000000 meters along route # Maximum depth: 1889.195475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1814.195475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103664; longitude = -173.762665; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1815.033763; finalDepth = 1814.195475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1814.195475 # Seafloor depth:-1889.195475 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.434372 meters # Minimum depth: 1890.033763 meters looking forward 0.000000 meters along route # Maximum depth: 1890.033763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1815.033763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102880; longitude = -173.762782; captureRadius = 10; duration = 200; initialDepth = 1850.996734; finalDepth = 1815.033763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1815.033763 # Seafloor depth:-1890.033763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.434372 meters # Minimum depth: 1925.996734 meters looking forward 0.000000 meters along route # Maximum depth: 1925.996734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1850.996734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101976; longitude = -173.762917; captureRadius = 10; duration = 200; initialDepth = 1870.643548; finalDepth = 1850.996734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1850.996734 # Seafloor depth:-1925.996734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.434372 meters # Minimum depth: 1945.643548 meters looking forward 0.000000 meters along route # Maximum depth: 1945.643548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1870.643548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101072; longitude = -173.763051; captureRadius = 10; duration = 200; initialDepth = 1910.835401; finalDepth = 1870.643548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1870.643548 # Seafloor depth:-1945.643548 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.434372 meters # Minimum depth: 1985.835401 meters looking forward 0.000000 meters along route # Maximum depth: 1985.835401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1910.835401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100168; longitude = -173.763186; captureRadius = 10; duration = 200; initialDepth = 1932.813530; finalDepth = 1910.835401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1910.835401 # Seafloor depth:-1985.835401 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.434372 meters # Minimum depth: 2007.813530 meters looking forward 0.000000 meters along route # Maximum depth: 2007.813530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1932.813530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099264; longitude = -173.763321; captureRadius = 10; duration = 200; initialDepth = 1964.347102; finalDepth = 1932.813530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1932.81353 # Seafloor depth:-2007.813530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.434372 meters # Minimum depth: 2039.347102 meters looking forward 0.000000 meters along route # Maximum depth: 2039.347102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1964.347102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098360; longitude = -173.763456; captureRadius = 10; duration = 200; initialDepth = 1987.161865; finalDepth = 1964.347102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1964.347102 # Seafloor depth:-2039.347102 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 100.434372 meters # Minimum depth: 2062.161865 meters looking forward 0.000000 meters along route # Maximum depth: 2062.161865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1987.161865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097426; longitude = -173.763595; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2019.197554; finalDepth = 1987.161865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1987.161865 # Seafloor depth:-2062.161865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2094.197554 meters looking forward 0.000000 meters along route # Maximum depth: 2094.197554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2019.197554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098089; longitude = -173.764301; captureRadius = 10; duration = 200; initialDepth = 2037.503068; finalDepth = 2019.197554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2019.197554 # Seafloor depth:-2094.197554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2112.503068 meters looking forward 0.000000 meters along route # Maximum depth: 2112.503068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2037.503068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098722; longitude = -173.764975; captureRadius = 10; duration = 200; initialDepth = 2064.321309; finalDepth = 2037.503068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2037.503068 # Seafloor depth:-2112.503068 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2139.321309 meters looking forward 0.000000 meters along route # Maximum depth: 2139.321309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2064.321309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099354; longitude = -173.765650; captureRadius = 10; duration = 200; initialDepth = 2099.509253; finalDepth = 2064.321309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2064.321309 # Seafloor depth:-2139.321309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2174.509253 meters looking forward 0.000000 meters along route # Maximum depth: 2174.509253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2099.509253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099988; longitude = -173.766324; captureRadius = 10; duration = 200; initialDepth = 2132.623205; finalDepth = 2099.509253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2099.509253 # Seafloor depth:-2174.509253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2207.623205 meters looking forward 0.000000 meters along route # Maximum depth: 2207.623205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2132.623205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100620; longitude = -173.766998; captureRadius = 10; duration = 200; initialDepth = 2165.779557; finalDepth = 2132.623205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2132.623205 # Seafloor depth:-2207.623205 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2240.779557 meters looking forward 0.000000 meters along route # Maximum depth: 2240.779557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2165.779557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101253; longitude = -173.767672; captureRadius = 10; duration = 200; initialDepth = 2206.367816; finalDepth = 2165.779557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2165.779557 # Seafloor depth:-2240.779557 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2281.367816 meters looking forward 0.000000 meters along route # Maximum depth: 2281.367816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2206.367816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101886; longitude = -173.768347; captureRadius = 10; duration = 200; initialDepth = 2241.076458; finalDepth = 2206.367816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2206.367816 # Seafloor depth:-2281.367816 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2316.076458 meters looking forward 0.000000 meters along route # Maximum depth: 2316.076458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2241.076458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102520; longitude = -173.769022; captureRadius = 10; duration = 200; initialDepth = 2274.610403; finalDepth = 2241.076458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2241.076458 # Seafloor depth:-2316.076458 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2349.610403 meters looking forward 0.000000 meters along route # Maximum depth: 2349.610403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2274.610403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103151; longitude = -173.769695; captureRadius = 10; duration = 200; initialDepth = 2261.495733; finalDepth = 2274.610403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2274.610403 # Seafloor depth:-2349.610403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2336.495733 meters looking forward 0.000000 meters along route # Maximum depth: 2336.495733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2261.495733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103784; longitude = -173.770369; captureRadius = 10; duration = 200; initialDepth = 2321.881721; finalDepth = 2261.495733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2261.495733 # Seafloor depth:-2336.495733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.434372 meters # Minimum depth: 2397.998540 meters looking forward 0.000000 meters along route # Maximum depth: 2397.998540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2321.881721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104440; longitude = -173.771069; captureRadius = 10; duration = 200; initialDepth = 2341.937073; finalDepth = 2321.881721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1168186758905 # Actual altitude: 76.1168186758905 # Commanded vehicle depth:2321.88172132411 # Seafloor depth:-2397.998540 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 304.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 100.434372 meters # Minimum depth: 2416.937073 meters looking forward 0.000000 meters along route # Maximum depth: 2416.937073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2341.937073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105110; longitude = -173.771782; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2360.542287; finalDepth = 2341.937073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1168186758905 # Actual altitude: 76.1168186758905 # Commanded vehicle depth:2341.937073 # Seafloor depth:-2416.937073 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 304.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.434372 meters # Minimum depth: 2435.542287 meters looking forward 0.000000 meters along route # Maximum depth: 2435.542287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2360.542287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105502; longitude = -173.772377; captureRadius = 10; duration = 200; initialDepth = 2397.404639; finalDepth = 2360.542287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2360.542287 # Seafloor depth:-2435.542287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.434372 meters # Minimum depth: 2472.404639 meters looking forward 0.000000 meters along route # Maximum depth: 2472.404639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2397.404639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106050; longitude = -173.773208; captureRadius = 10; duration = 200; initialDepth = 2437.465678; finalDepth = 2397.404639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2397.404639 # Seafloor depth:-2472.404639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.434372 meters # Minimum depth: 2512.465678 meters looking forward 0.000000 meters along route # Maximum depth: 2512.465678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2437.465678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106601; longitude = -173.774046; captureRadius = 10; duration = 200; initialDepth = 2483.127338; finalDepth = 2437.465678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2437.465678 # Seafloor depth:-2512.465678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.434372 meters # Minimum depth: 2558.127338 meters looking forward 0.000000 meters along route # Maximum depth: 2558.127338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2483.127338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107153; longitude = -173.774883; captureRadius = 10; duration = 200; initialDepth = 2545.954503; finalDepth = 2483.127338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2483.127338 # Seafloor depth:-2558.127338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.434372 meters # Minimum depth: 2622.052410 meters looking forward 0.000000 meters along route # Maximum depth: 2622.052410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2545.954503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107704; longitude = -173.775720; captureRadius = 10; duration = 200; initialDepth = 2603.997262; finalDepth = 2545.954503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0979070693465 # Actual altitude: 76.0979070693465 # Commanded vehicle depth:2545.95450293065 # Seafloor depth:-2622.052410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 304.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.434372 meters # Minimum depth: 2686.198316 meters looking forward 0.000000 meters along route # Maximum depth: 2686.198316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2603.997262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108214; longitude = -173.776494; captureRadius = 10; duration = 200; initialDepth = 2643.159485; finalDepth = 2603.997262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2010538806358 # Actual altitude: 82.2010538806358 # Commanded vehicle depth:2603.99726211936 # Seafloor depth:-2686.198316 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 328.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 100.434372 meters # Minimum depth: 2718.159485 meters looking forward 0.000000 meters along route # Maximum depth: 2718.159485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2643.159485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108726; longitude = -173.777271; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2660.665725; finalDepth = 2643.159485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.2010538806358 # Actual altitude: 82.2010538806358 # Commanded vehicle depth:2643.159485 # Seafloor depth:-2718.159485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 328.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.434372 meters # Minimum depth: 2735.665725 meters looking forward 0.000000 meters along route # Maximum depth: 2735.665725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2660.665725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108802; longitude = -173.778046; captureRadius = 10; duration = 200; initialDepth = 2696.832552; finalDepth = 2660.665725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2660.665725 # Seafloor depth:-2735.665725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.434372 meters # Minimum depth: 2771.832552 meters looking forward 0.000000 meters along route # Maximum depth: 2771.832552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2696.832552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108894; longitude = -173.778976; captureRadius = 10; duration = 200; initialDepth = 2715.371388; finalDepth = 2696.832552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2696.832552 # Seafloor depth:-2771.832552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.434372 meters # Minimum depth: 2790.371388 meters looking forward 0.000000 meters along route # Maximum depth: 2790.371388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2715.371388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108985; longitude = -173.779906; captureRadius = 10; duration = 200; initialDepth = 2762.424593; finalDepth = 2715.371388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2715.371388 # Seafloor depth:-2790.371388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.434372 meters # Minimum depth: 2837.424593 meters looking forward 0.000000 meters along route # Maximum depth: 2837.424593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2762.424593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109077; longitude = -173.780837; captureRadius = 10; duration = 200; initialDepth = 2820.497078; finalDepth = 2762.424593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2762.424593 # Seafloor depth:-2837.424593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.434372 meters # Minimum depth: 2898.250116 meters looking forward 0.000000 meters along route # Maximum depth: 2898.250116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2820.497078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109168; longitude = -173.781767; captureRadius = 10; duration = 200; initialDepth = 2872.508136; finalDepth = 2820.497078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7530383559447 # Actual altitude: 77.7530383559447 # Commanded vehicle depth:2820.49707764406 # Seafloor depth:-2898.250116 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 311.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.434372 meters # Minimum depth: 2947.508136 meters looking forward 0.000000 meters along route # Maximum depth: 2947.508136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2872.508136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109260; longitude = -173.782697; captureRadius = 10; duration = 200; initialDepth = 2885.553489; finalDepth = 2872.508136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7530383559447 # Actual altitude: 77.7530383559447 # Commanded vehicle depth:2872.508136 # Seafloor depth:-2947.508136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 311.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.434372 meters # Minimum depth: 2960.553489 meters looking forward 0.000000 meters along route # Maximum depth: 2960.553489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2885.553489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109351; longitude = -173.783628; captureRadius = 10; duration = 200; initialDepth = 2877.936523; finalDepth = 2885.553489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2885.553489 # Seafloor depth:-2960.553489 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 100.434372 meters # Minimum depth: 2952.936523 meters looking forward 0.000000 meters along route # Maximum depth: 2952.936523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2877.936523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109449; longitude = -173.784620; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2869.630272; finalDepth = 2877.936523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2877.936523 # Seafloor depth:-2952.936523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 100.434372 meters # Minimum depth: 2944.630272 meters looking forward 0.000000 meters along route # Maximum depth: 2944.630272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2869.630272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110293; longitude = -173.784533; captureRadius = 10; duration = 200; initialDepth = 2851.912842; finalDepth = 2869.630272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2869.630272 # Seafloor depth:-2944.630272 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 100.434372 meters # Minimum depth: 2926.912842 meters looking forward 0.000000 meters along route # Maximum depth: 2926.912842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2851.912842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111257; longitude = -173.784434; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2835.216864; finalDepth = 2851.912842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2851.912842 # Seafloor depth:-2926.912842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.434372 meters # Minimum depth: 2910.216864 meters looking forward 0.000000 meters along route # Maximum depth: 2910.216864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2835.216864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111150; longitude = -173.783348; captureRadius = 10; duration = 200; initialDepth = 2807.377916; finalDepth = 2835.216864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2835.216864 # Seafloor depth:-2910.216864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.434372 meters # Minimum depth: 2882.377916 meters looking forward 0.000000 meters along route # Maximum depth: 2882.377916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2807.377916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111059; longitude = -173.782418; captureRadius = 10; duration = 200; initialDepth = 2766.092577; finalDepth = 2807.377916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2807.377916 # Seafloor depth:-2882.377916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.434372 meters # Minimum depth: 2841.092577 meters looking forward 0.000000 meters along route # Maximum depth: 2841.092577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2766.092577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110967; longitude = -173.781488; captureRadius = 10; duration = 200; initialDepth = 2700.584640; finalDepth = 2766.092577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2766.092577 # Seafloor depth:-2841.092577 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.434372 meters # Minimum depth: 2775.584640 meters looking forward 0.000000 meters along route # Maximum depth: 2775.584640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2700.584640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110876; longitude = -173.780558; captureRadius = 10; duration = 200; initialDepth = 2650.507182; finalDepth = 2700.584640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2700.58464 # Seafloor depth:-2775.584640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.434372 meters # Minimum depth: 2725.507182 meters looking forward 0.000000 meters along route # Maximum depth: 2725.507182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2650.507182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110784; longitude = -173.779627; captureRadius = 10; duration = 200; initialDepth = 2604.911935; finalDepth = 2650.507182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2650.507182 # Seafloor depth:-2725.507182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.434372 meters # Minimum depth: 2679.911935 meters looking forward 0.000000 meters along route # Maximum depth: 2679.911935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2604.911935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110693; longitude = -173.778697; captureRadius = 10; duration = 200; initialDepth = 2582.962685; finalDepth = 2604.911935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2604.911935 # Seafloor depth:-2679.911935 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.434372 meters # Minimum depth: 2657.962685 meters looking forward 0.000000 meters along route # Maximum depth: 2657.962685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2582.962685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110602; longitude = -173.777767; captureRadius = 10; duration = 200; initialDepth = 2569.289978; finalDepth = 2582.962685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2582.962685 # Seafloor depth:-2657.962685 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 100.434372 meters # Minimum depth: 2644.289978 meters looking forward 0.000000 meters along route # Maximum depth: 2644.289978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2569.289978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110504; longitude = -173.776774; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2499.227669; finalDepth = 2569.289978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2569.289978 # Seafloor depth:-2644.289978 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.434372 meters # Minimum depth: 2574.227669 meters looking forward 0.000000 meters along route # Maximum depth: 2574.227669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.227669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109738; longitude = -173.775627; captureRadius = 10; duration = 200; initialDepth = 2453.941908; finalDepth = 2499.227669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2499.227669 # Seafloor depth:-2574.227669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.434372 meters # Minimum depth: 2528.941908 meters looking forward 0.000000 meters along route # Maximum depth: 2528.941908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2453.941908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109178; longitude = -173.774790; captureRadius = 10; duration = 200; initialDepth = 2410.635021; finalDepth = 2453.941908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2453.941908 # Seafloor depth:-2528.941908 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.434372 meters # Minimum depth: 2485.635021 meters looking forward 0.000000 meters along route # Maximum depth: 2485.635021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2410.635021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108666; longitude = -173.774023; captureRadius = 10; duration = 200; initialDepth = 2354.601804; finalDepth = 2410.635021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2410.635021 # Seafloor depth:-2485.635021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.434372 meters # Minimum depth: 2429.601804 meters looking forward 0.000000 meters along route # Maximum depth: 2429.601804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2354.601804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108121; longitude = -173.773208; captureRadius = 10; duration = 200; initialDepth = 2318.701815; finalDepth = 2354.601804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2354.601804 # Seafloor depth:-2429.601804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.434372 meters # Minimum depth: 2393.701815 meters looking forward 0.000000 meters along route # Maximum depth: 2393.701815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2318.701815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107562; longitude = -173.772371; captureRadius = 10; duration = 200; initialDepth = 2278.443177; finalDepth = 2318.701815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2318.701815 # Seafloor depth:-2393.701815 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.434372 meters # Minimum depth: 2353.443177 meters looking forward 0.000000 meters along route # Maximum depth: 2353.443177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2278.443177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107039; longitude = -173.771588; captureRadius = 10; duration = 200; initialDepth = 2225.966614; finalDepth = 2278.443177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2278.443177 # Seafloor depth:-2353.443177 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 100.434372 meters # Minimum depth: 2300.966614 meters looking forward 0.000000 meters along route # Maximum depth: 2300.966614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2225.966614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106526; longitude = -173.770821; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2219.735138; finalDepth = 2225.966614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2225.966614 # Seafloor depth:-2300.966614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2294.735138 meters looking forward 0.000000 meters along route # Maximum depth: 2294.735138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2219.735138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105737; longitude = -173.770045; captureRadius = 10; duration = 200; initialDepth = 2172.261715; finalDepth = 2219.735138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2219.735138 # Seafloor depth:-2294.735138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2247.261715 meters looking forward 0.000000 meters along route # Maximum depth: 2247.261715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2172.261715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105075; longitude = -173.769394; captureRadius = 10; duration = 200; initialDepth = 2167.821891; finalDepth = 2172.261715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2172.261715 # Seafloor depth:-2247.261715 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2242.821891 meters looking forward 0.000000 meters along route # Maximum depth: 2242.821891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2167.821891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104413; longitude = -173.768743; captureRadius = 10; duration = 200; initialDepth = 2140.154739; finalDepth = 2167.821891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2167.821891 # Seafloor depth:-2242.821891 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2215.154739 meters looking forward 0.000000 meters along route # Maximum depth: 2215.154739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2140.154739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103751; longitude = -173.768092; captureRadius = 10; duration = 200; initialDepth = 2127.178784; finalDepth = 2140.154739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2140.154739 # Seafloor depth:-2215.154739 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2202.178784 meters looking forward 0.000000 meters along route # Maximum depth: 2202.178784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2127.178784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103088; longitude = -173.767441; captureRadius = 10; duration = 200; initialDepth = 2094.142595; finalDepth = 2127.178784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2127.178784 # Seafloor depth:-2202.178784 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2169.142595 meters looking forward 0.000000 meters along route # Maximum depth: 2169.142595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2094.142595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102426; longitude = -173.766789; captureRadius = 10; duration = 200; initialDepth = 2049.182566; finalDepth = 2094.142595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2094.142595 # Seafloor depth:-2169.142595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2124.182566 meters looking forward 0.000000 meters along route # Maximum depth: 2124.182566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2049.182566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101764; longitude = -173.766138; captureRadius = 10; duration = 200; initialDepth = 2017.505674; finalDepth = 2049.182566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2049.182566 # Seafloor depth:-2124.182566 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2092.505674 meters looking forward 0.000000 meters along route # Maximum depth: 2092.505674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2017.505674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101102; longitude = -173.765487; captureRadius = 10; duration = 200; initialDepth = 1989.641867; finalDepth = 2017.505674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2017.505674 # Seafloor depth:-2092.505674 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2064.641867 meters looking forward 0.000000 meters along route # Maximum depth: 2064.641867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1989.641867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100439; longitude = -173.764835; captureRadius = 10; duration = 200; initialDepth = 1974.770451; finalDepth = 1989.641867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1989.641867 # Seafloor depth:-2064.641867 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2049.770451 meters looking forward 0.000000 meters along route # Maximum depth: 2049.770451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1974.770451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099778; longitude = -173.764185; captureRadius = 10; duration = 200; initialDepth = 1947.929527; finalDepth = 1974.770451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1974.770451 # Seafloor depth:-2049.770451 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.434372 meters # Minimum depth: 2022.929527 meters looking forward 0.000000 meters along route # Maximum depth: 2022.929527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1947.929527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099083; longitude = -173.763502; captureRadius = 10; duration = 200; initialDepth = 1930.333984; finalDepth = 1947.929527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1947.929527 # Seafloor depth:-2022.929527 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 100.434372 meters # Minimum depth: 2005.333984 meters looking forward 0.000000 meters along route # Maximum depth: 2005.333984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1930.333984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098390; longitude = -173.762820; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1852.700195; finalDepth = 1930.333984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1930.333984 # Seafloor depth:-2005.333984 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 100.434372 meters # Minimum depth: 1927.700195 meters looking forward 0.000000 meters along route # Maximum depth: 1927.700195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1852.700195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099565; longitude = -173.761983; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1879.047513; finalDepth = 1852.700195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1852.700195 # Seafloor depth:-1927.700195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 1954.047513 meters looking forward 0.000000 meters along route # Maximum depth: 1954.047513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1879.047513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100315; longitude = -173.762696; captureRadius = 10; duration = 200; initialDepth = 1889.455350; finalDepth = 1879.047513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1879.047513 # Seafloor depth:-1954.047513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 1964.455350 meters looking forward 0.000000 meters along route # Maximum depth: 1964.455350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1889.455350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101000; longitude = -173.763347; captureRadius = 10; duration = 200; initialDepth = 1907.583005; finalDepth = 1889.455350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1889.45535 # Seafloor depth:-1964.455350 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 1982.583005 meters looking forward 0.000000 meters along route # Maximum depth: 1982.583005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1907.583005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101705; longitude = -173.764017; captureRadius = 10; duration = 200; initialDepth = 1930.392158; finalDepth = 1907.583005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1907.583005 # Seafloor depth:-1982.583005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2005.392158 meters looking forward 0.000000 meters along route # Maximum depth: 2005.392158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1930.392158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102370; longitude = -173.764650; captureRadius = 10; duration = 200; initialDepth = 1970.952756; finalDepth = 1930.392158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1930.392158 # Seafloor depth:-2005.392158 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2045.952756 meters looking forward 0.000000 meters along route # Maximum depth: 2045.952756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1970.952756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103061; longitude = -173.765307; captureRadius = 10; duration = 200; initialDepth = 2021.884678; finalDepth = 1970.952756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1970.952756 # Seafloor depth:-2045.952756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2096.884678 meters looking forward 0.000000 meters along route # Maximum depth: 2096.884678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2021.884678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103740; longitude = -173.765952; captureRadius = 10; duration = 200; initialDepth = 2036.966848; finalDepth = 2021.884678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2021.884678 # Seafloor depth:-2096.884678 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2111.966848 meters looking forward 0.000000 meters along route # Maximum depth: 2111.966848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2036.966848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104425; longitude = -173.766603; captureRadius = 10; duration = 200; initialDepth = 2051.400903; finalDepth = 2036.966848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2036.966848 # Seafloor depth:-2111.966848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2126.400903 meters looking forward 0.000000 meters along route # Maximum depth: 2126.400903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2051.400903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105110; longitude = -173.767254; captureRadius = 10; duration = 200; initialDepth = 2090.758088; finalDepth = 2051.400903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2051.400903 # Seafloor depth:-2126.400903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2165.758088 meters looking forward 0.000000 meters along route # Maximum depth: 2165.758088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2090.758088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105795; longitude = -173.767906; captureRadius = 10; duration = 200; initialDepth = 2103.330332; finalDepth = 2090.758088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2090.758088 # Seafloor depth:-2165.758088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2178.330332 meters looking forward 0.000000 meters along route # Maximum depth: 2178.330332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2103.330332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106496; longitude = -173.768573; captureRadius = 10; duration = 200; initialDepth = 2117.420846; finalDepth = 2103.330332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2103.330332 # Seafloor depth:-2178.330332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.434372 meters # Minimum depth: 2192.420846 meters looking forward 0.000000 meters along route # Maximum depth: 2192.420846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2117.420846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107165; longitude = -173.769208; captureRadius = 10; duration = 200; initialDepth = 2145.556274; finalDepth = 2117.420846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2117.420846 # Seafloor depth:-2192.420846 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 100.434372 meters # Minimum depth: 2220.556274 meters looking forward 0.000000 meters along route # Maximum depth: 2220.556274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2145.556274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107882; longitude = -173.769890; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2241.826299; finalDepth = 2145.556274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2145.556274 # Seafloor depth:-2220.556274 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.434372 meters # Minimum depth: 2316.826299 meters looking forward 0.000000 meters along route # Maximum depth: 2316.826299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2241.826299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108756; longitude = -173.771178; captureRadius = 10; duration = 200; initialDepth = 2298.294124; finalDepth = 2241.826299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2241.826299 # Seafloor depth:-2316.826299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.434372 meters # Minimum depth: 2373.294124 meters looking forward 0.000000 meters along route # Maximum depth: 2373.294124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2298.294124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109314; longitude = -173.771999; captureRadius = 10; duration = 200; initialDepth = 2329.924499; finalDepth = 2298.294124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2298.294124 # Seafloor depth:-2373.294124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.434372 meters # Minimum depth: 2404.924499 meters looking forward 0.000000 meters along route # Maximum depth: 2404.924499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2329.924499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109841; longitude = -173.772776; captureRadius = 10; duration = 200; initialDepth = 2359.187126; finalDepth = 2329.924499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2329.924499 # Seafloor depth:-2404.924499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.434372 meters # Minimum depth: 2434.187126 meters looking forward 0.000000 meters along route # Maximum depth: 2434.187126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2359.187126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110387; longitude = -173.773580; captureRadius = 10; duration = 200; initialDepth = 2387.915653; finalDepth = 2359.187126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2359.187126 # Seafloor depth:-2434.187126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.434372 meters # Minimum depth: 2462.915653 meters looking forward 0.000000 meters along route # Maximum depth: 2462.915653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2387.915653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110955; longitude = -173.774418; captureRadius = 10; duration = 200; initialDepth = 2434.809346; finalDepth = 2387.915653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2387.915653 # Seafloor depth:-2462.915653 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.434372 meters # Minimum depth: 2509.809346 meters looking forward 0.000000 meters along route # Maximum depth: 2509.809346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2434.809346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111524; longitude = -173.775255; captureRadius = 10; duration = 200; initialDepth = 2429.074524; finalDepth = 2434.809346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2434.809346 # Seafloor depth:-2509.809346 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 100.434372 meters # Minimum depth: 2504.074524 meters looking forward 0.000000 meters along route # Maximum depth: 2504.074524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2429.074524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112071; longitude = -173.776061; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2489.179314; finalDepth = 2429.074524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2429.074524 # Seafloor depth:-2504.074524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2574.421585 meters looking forward 0.000000 meters along route # Maximum depth: 2574.421585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2489.179314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112178; longitude = -173.777023; captureRadius = 10; duration = 200; initialDepth = 2503.042172; finalDepth = 2489.179314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2422705413505 # Actual altitude: 85.2422705413505 # Commanded vehicle depth:2489.17931445865 # Seafloor depth:-2574.421585 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 340.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2578.042172 meters looking forward 0.000000 meters along route # Maximum depth: 2578.042172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2503.042172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112282; longitude = -173.777958; captureRadius = 10; duration = 200; initialDepth = 2552.031568; finalDepth = 2503.042172; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2422705413505 # Actual altitude: 85.2422705413505 # Commanded vehicle depth:2503.042172 # Seafloor depth:-2578.042172 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 340.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2627.031568 meters looking forward 0.000000 meters along route # Maximum depth: 2627.031568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2552.031568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112385; longitude = -173.778883; captureRadius = 10; duration = 200; initialDepth = 2604.027321; finalDepth = 2552.031568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2552.031568 # Seafloor depth:-2627.031568 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2679.027321 meters looking forward 0.000000 meters along route # Maximum depth: 2679.027321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2604.027321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112488; longitude = -173.779813; captureRadius = 10; duration = 200; initialDepth = 2662.180725; finalDepth = 2604.027321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2604.027321 # Seafloor depth:-2679.027321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2756.750359 meters looking forward 0.000000 meters along route # Maximum depth: 2756.750359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2662.180725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112592; longitude = -173.780744; captureRadius = 10; duration = 200; initialDepth = 2720.334145; finalDepth = 2662.180725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.5696336759297 # Actual altitude: 94.5696336759297 # Commanded vehicle depth:2662.18072532407 # Seafloor depth:-2756.750359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.37; 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 85 # Segment length 100.434372 meters # Minimum depth: 2818.729639 meters looking forward 0.000000 meters along route # Maximum depth: 2818.729639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2720.334145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112695; longitude = -173.781674; captureRadius = 10; duration = 200; initialDepth = 2746.407926; finalDepth = 2720.334145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.3954943407562 # Actual altitude: 98.3954943407562 # Commanded vehicle depth:2720.33414465924 # Seafloor depth:-2818.729639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2821.407926 meters looking forward 0.000000 meters along route # Maximum depth: 2821.407926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2746.407926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112799; longitude = -173.782604; captureRadius = 10; duration = 200; initialDepth = 2788.730539; finalDepth = 2746.407926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.3954943407562 # Actual altitude: 98.3954943407562 # Commanded vehicle depth:2746.407926 # Seafloor depth:-2821.407926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.52; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2863.730539 meters looking forward 0.000000 meters along route # Maximum depth: 2863.730539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2788.730539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112902; longitude = -173.783535; captureRadius = 10; duration = 200; initialDepth = 2810.894766; finalDepth = 2788.730539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2788.730539 # Seafloor depth:-2863.730539 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2885.894766 meters looking forward 0.000000 meters along route # Maximum depth: 2885.894766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2810.894766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113006; longitude = -173.784465; captureRadius = 10; duration = 200; initialDepth = 2826.554609; finalDepth = 2810.894766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2810.894766 # Seafloor depth:-2885.894766 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.434372 meters # Minimum depth: 2901.554609 meters looking forward 0.000000 meters along route # Maximum depth: 2901.554609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2826.554609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113109; longitude = -173.785395; captureRadius = 10; duration = 200; initialDepth = 2860.275818; finalDepth = 2826.554609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2826.554609 # Seafloor depth:-2901.554609 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 100.434372 meters # Minimum depth: 2935.275818 meters looking forward 0.000000 meters along route # Maximum depth: 2935.275818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2860.275818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113216; longitude = -173.786356; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2803.958851; finalDepth = 2860.275818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2860.275818 # Seafloor depth:-2935.275818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2878.958851 meters looking forward 0.000000 meters along route # Maximum depth: 2878.958851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2803.958851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114542; longitude = -173.785970; captureRadius = 10; duration = 200; initialDepth = 2752.071466; finalDepth = 2803.958851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2803.958851 # Seafloor depth:-2878.958851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2827.071466 meters looking forward 0.000000 meters along route # Maximum depth: 2827.071466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2752.071466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115446; longitude = -173.785707; captureRadius = 10; duration = 200; initialDepth = 2748.712582; finalDepth = 2752.071466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2752.071466 # Seafloor depth:-2827.071466 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2823.712582 meters looking forward 0.000000 meters along route # Maximum depth: 2823.712582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2748.712582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116350; longitude = -173.785445; captureRadius = 10; duration = 200; initialDepth = 2781.083227; finalDepth = 2748.712582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2748.712582 # Seafloor depth:-2823.712582 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2856.083227 meters looking forward 0.000000 meters along route # Maximum depth: 2856.083227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2781.083227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117254; longitude = -173.785182; captureRadius = 10; duration = 200; initialDepth = 2803.053272; finalDepth = 2781.083227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2781.083227 # Seafloor depth:-2856.083227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2878.053272 meters looking forward 0.000000 meters along route # Maximum depth: 2878.053272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2803.053272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118158; longitude = -173.784919; captureRadius = 10; duration = 200; initialDepth = 2813.972275; finalDepth = 2803.053272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2803.053272 # Seafloor depth:-2878.053272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2888.972275 meters looking forward 0.000000 meters along route # Maximum depth: 2888.972275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2813.972275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119079; longitude = -173.784651; captureRadius = 10; duration = 200; initialDepth = 2809.634851; finalDepth = 2813.972275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2813.972275 # Seafloor depth:-2888.972275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2884.634851 meters looking forward 0.000000 meters along route # Maximum depth: 2884.634851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2809.634851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119966; longitude = -173.784393; captureRadius = 10; duration = 200; initialDepth = 2810.610704; finalDepth = 2809.634851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2809.634851 # Seafloor depth:-2884.634851 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.434372 meters # Minimum depth: 2885.610704 meters looking forward 0.000000 meters along route # Maximum depth: 2885.610704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2810.610704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120870; longitude = -173.784130; captureRadius = 10; duration = 200; initialDepth = 2784.731934; finalDepth = 2810.610704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2810.610704 # Seafloor depth:-2885.610704 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 100.434372 meters # Minimum depth: 2859.731934 meters looking forward 0.000000 meters along route # Maximum depth: 2859.731934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2784.731934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121744; longitude = -173.783876; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2726.254196; finalDepth = 2784.731934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2784.731934 # Seafloor depth:-2859.731934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2801.254196 meters looking forward 0.000000 meters along route # Maximum depth: 2801.254196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2726.254196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121549; longitude = -173.782604; captureRadius = 10; duration = 200; initialDepth = 2671.538025; finalDepth = 2726.254196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2726.254196 # Seafloor depth:-2801.254196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2746.538025 meters looking forward 0.000000 meters along route # Maximum depth: 2746.538025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2671.538025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121406; longitude = -173.781674; captureRadius = 10; duration = 200; initialDepth = 2652.613431; finalDepth = 2671.538025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2671.538025 # Seafloor depth:-2746.538025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2727.613431 meters looking forward 0.000000 meters along route # Maximum depth: 2727.613431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2652.613431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121263; longitude = -173.780744; captureRadius = 10; duration = 200; initialDepth = 2654.105732; finalDepth = 2652.613431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2652.613431 # Seafloor depth:-2727.613431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2729.105732 meters looking forward 0.000000 meters along route # Maximum depth: 2729.105732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2654.105732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121121; longitude = -173.779813; captureRadius = 10; duration = 200; initialDepth = 2647.574513; finalDepth = 2654.105732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2654.105732 # Seafloor depth:-2729.105732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2722.574513 meters looking forward 0.000000 meters along route # Maximum depth: 2722.574513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2647.574513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120978; longitude = -173.778883; captureRadius = 10; duration = 200; initialDepth = 2621.440847; finalDepth = 2647.574513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2647.574513 # Seafloor depth:-2722.574513 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2696.440847 meters looking forward 0.000000 meters along route # Maximum depth: 2696.440847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2621.440847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120835; longitude = -173.777953; captureRadius = 10; duration = 200; initialDepth = 2623.380025; finalDepth = 2621.440847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2621.440847 # Seafloor depth:-2696.440847 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2698.380025 meters looking forward 0.000000 meters along route # Maximum depth: 2698.380025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2623.380025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120693; longitude = -173.777023; captureRadius = 10; duration = 200; initialDepth = 2589.385288; finalDepth = 2623.380025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2623.380025 # Seafloor depth:-2698.380025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2664.385288 meters looking forward 0.000000 meters along route # Maximum depth: 2664.385288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2589.385288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120550; longitude = -173.776092; captureRadius = 10; duration = 200; initialDepth = 2535.609221; finalDepth = 2589.385288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2589.385288 # Seafloor depth:-2664.385288 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2610.609221 meters looking forward 0.000000 meters along route # Maximum depth: 2610.609221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2535.609221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120407; longitude = -173.775162; captureRadius = 10; duration = 200; initialDepth = 2511.089646; finalDepth = 2535.609221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2535.609221 # Seafloor depth:-2610.609221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.434372 meters # Minimum depth: 2586.089646 meters looking forward 0.000000 meters along route # Maximum depth: 2586.089646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.089646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120265; longitude = -173.774232; captureRadius = 10; duration = 200; initialDepth = 2529.427734; finalDepth = 2511.089646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2511.089646 # Seafloor depth:-2586.089646 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 100.434372 meters # Minimum depth: 2604.427734 meters looking forward 0.000000 meters along route # Maximum depth: 2604.427734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2529.427734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120117; longitude = -173.773270; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2516.707079; finalDepth = 2529.427734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2529.427734 # Seafloor depth:-2604.427734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2591.707079 meters looking forward 0.000000 meters along route # Maximum depth: 2591.707079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2516.707079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119283; longitude = -173.771906; captureRadius = 10; duration = 200; initialDepth = 2543.758439; finalDepth = 2516.707079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2516.707079 # Seafloor depth:-2591.707079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2618.758439 meters looking forward 0.000000 meters along route # Maximum depth: 2618.758439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2543.758439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118771; longitude = -173.771069; captureRadius = 10; duration = 200; initialDepth = 2509.467334; finalDepth = 2543.758439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2543.758439 # Seafloor depth:-2618.758439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2584.467334 meters looking forward 0.000000 meters along route # Maximum depth: 2584.467334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.467334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118248; longitude = -173.770215; captureRadius = 10; duration = 200; initialDepth = 2485.818587; finalDepth = 2509.467334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2509.467334 # Seafloor depth:-2584.467334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2560.818587 meters looking forward 0.000000 meters along route # Maximum depth: 2560.818587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2485.818587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117746; longitude = -173.769394; captureRadius = 10; duration = 200; initialDepth = 2470.591085; finalDepth = 2485.818587; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2485.818587 # Seafloor depth:-2560.818587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2545.591085 meters looking forward 0.000000 meters along route # Maximum depth: 2545.591085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2470.591085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117234; longitude = -173.768557; captureRadius = 10; duration = 200; initialDepth = 2479.584966; finalDepth = 2470.591085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2470.591085 # Seafloor depth:-2545.591085 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2554.584966 meters looking forward 0.000000 meters along route # Maximum depth: 2554.584966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2479.584966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116712; longitude = -173.767702; captureRadius = 10; duration = 200; initialDepth = 2457.971446; finalDepth = 2479.584966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2479.584966 # Seafloor depth:-2554.584966 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2532.971446 meters looking forward 0.000000 meters along route # Maximum depth: 2532.971446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2457.971446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116210; longitude = -173.766882; captureRadius = 10; duration = 200; initialDepth = 2424.791127; finalDepth = 2457.971446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2457.971446 # Seafloor depth:-2532.971446 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.434372 meters # Minimum depth: 2499.791127 meters looking forward 0.000000 meters along route # Maximum depth: 2499.791127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2424.791127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115698; longitude = -173.766045; captureRadius = 10; duration = 200; initialDepth = 2405.050537; finalDepth = 2424.791127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2424.791127 # Seafloor depth:-2499.791127 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 100.434372 meters # Minimum depth: 2480.050537 meters looking forward 0.000000 meters along route # Maximum depth: 2480.050537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2405.050537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115205; longitude = -173.765239; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2370.207761; finalDepth = 2405.050537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2405.050537 # Seafloor depth:-2480.050537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2445.207761 meters looking forward 0.000000 meters along route # Maximum depth: 2445.207761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2370.207761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114361; longitude = -173.764451; captureRadius = 10; duration = 200; initialDepth = 2332.836098; finalDepth = 2370.207761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2370.207761 # Seafloor depth:-2445.207761 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2407.836098 meters looking forward 0.000000 meters along route # Maximum depth: 2407.836098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2332.836098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113678; longitude = -173.763812; captureRadius = 10; duration = 200; initialDepth = 2289.839567; finalDepth = 2332.836098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2332.836098 # Seafloor depth:-2407.836098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2364.839567 meters looking forward 0.000000 meters along route # Maximum depth: 2364.839567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2289.839567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112981; longitude = -173.763161; captureRadius = 10; duration = 200; initialDepth = 2255.092180; finalDepth = 2289.839567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2289.839567 # Seafloor depth:-2364.839567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2330.092180 meters looking forward 0.000000 meters along route # Maximum depth: 2330.092180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2255.092180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112282; longitude = -173.762508; captureRadius = 10; duration = 200; initialDepth = 2217.095040; finalDepth = 2255.092180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2255.09218 # Seafloor depth:-2330.092180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2292.095040 meters looking forward 0.000000 meters along route # Maximum depth: 2292.095040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2217.095040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111587; longitude = -173.761859; captureRadius = 10; duration = 200; initialDepth = 2199.509526; finalDepth = 2217.095040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2217.09504 # Seafloor depth:-2292.095040 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2274.509526 meters looking forward 0.000000 meters along route # Maximum depth: 2274.509526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2199.509526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110891; longitude = -173.761208; captureRadius = 10; duration = 200; initialDepth = 2168.102221; finalDepth = 2199.509526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2199.509526 # Seafloor depth:-2274.509526 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2243.102221 meters looking forward 0.000000 meters along route # Maximum depth: 2243.102221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2168.102221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110194; longitude = -173.760556; captureRadius = 10; duration = 200; initialDepth = 2127.737648; finalDepth = 2168.102221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2168.102221 # Seafloor depth:-2243.102221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2202.737648 meters looking forward 0.000000 meters along route # Maximum depth: 2202.737648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2127.737648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109479; longitude = -173.759889; captureRadius = 10; duration = 200; initialDepth = 2090.074072; finalDepth = 2127.737648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2127.737648 # Seafloor depth:-2202.737648 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2165.074072 meters looking forward 0.000000 meters along route # Maximum depth: 2165.074072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2090.074072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108756; longitude = -173.759213; captureRadius = 10; duration = 200; initialDepth = 2043.945841; finalDepth = 2090.074072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2090.074072 # Seafloor depth:-2165.074072 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.434372 meters # Minimum depth: 2118.945841 meters looking forward 0.000000 meters along route # Maximum depth: 2118.945841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2043.945841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108033; longitude = -173.758538; captureRadius = 10; duration = 200; initialDepth = 2000.735474; finalDepth = 2043.945841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2043.945841 # Seafloor depth:-2118.945841 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 100.434372 meters # Minimum depth: 2075.735474 meters looking forward 0.000000 meters along route # Maximum depth: 2075.735474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2000.735474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107340; longitude = -173.757890; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1921.085052; finalDepth = 2000.735474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2000.735474 # Seafloor depth:-2075.735474 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 100.434372 meters # Minimum depth: 1996.085052 meters looking forward 0.000000 meters along route # Maximum depth: 1996.085052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1921.085052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106104; longitude = -173.758944; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1960.580546; finalDepth = 1921.085052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1921.085052 # Seafloor depth:-1996.085052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2035.580546 meters looking forward 0.000000 meters along route # Maximum depth: 2035.580546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1960.580546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106818; longitude = -173.759626; captureRadius = 10; duration = 200; initialDepth = 1998.143795; finalDepth = 1960.580546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1960.580546 # Seafloor depth:-2035.580546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2073.143795 meters looking forward 0.000000 meters along route # Maximum depth: 2073.143795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1998.143795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107499; longitude = -173.760277; captureRadius = 10; duration = 200; initialDepth = 2041.505673; finalDepth = 1998.143795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1998.143795 # Seafloor depth:-2073.143795 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2116.505673 meters looking forward 0.000000 meters along route # Maximum depth: 2116.505673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2041.505673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108181; longitude = -173.760929; captureRadius = 10; duration = 200; initialDepth = 2078.565830; finalDepth = 2041.505673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2041.505673 # Seafloor depth:-2116.505673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2153.565830 meters looking forward 0.000000 meters along route # Maximum depth: 2153.565830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2078.565830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108862; longitude = -173.761580; captureRadius = 10; duration = 200; initialDepth = 2096.809334; finalDepth = 2078.565830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2078.56583 # Seafloor depth:-2153.565830 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2171.809334 meters looking forward 0.000000 meters along route # Maximum depth: 2171.809334 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2096.809334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109544; longitude = -173.762231; captureRadius = 10; duration = 200; initialDepth = 2132.450409; finalDepth = 2096.809334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2096.809334 # Seafloor depth:-2171.809334 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2207.450409 meters looking forward 0.000000 meters along route # Maximum depth: 2207.450409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2132.450409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110226; longitude = -173.762882; captureRadius = 10; duration = 200; initialDepth = 2168.851880; finalDepth = 2132.450409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2132.450409 # Seafloor depth:-2207.450409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2243.851880 meters looking forward 0.000000 meters along route # Maximum depth: 2243.851880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2168.851880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110926; longitude = -173.763551; captureRadius = 10; duration = 200; initialDepth = 2211.564463; finalDepth = 2168.851880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2168.85188 # Seafloor depth:-2243.851880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2286.564463 meters looking forward 0.000000 meters along route # Maximum depth: 2286.564463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2211.564463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111589; longitude = -173.764185; captureRadius = 10; duration = 200; initialDepth = 2241.329632; finalDepth = 2211.564463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2211.564463 # Seafloor depth:-2286.564463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2316.329632 meters looking forward 0.000000 meters along route # Maximum depth: 2316.329632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2241.329632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112282; longitude = -173.764847; captureRadius = 10; duration = 200; initialDepth = 2255.628395; finalDepth = 2241.329632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2241.329632 # Seafloor depth:-2316.329632 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.434372 meters # Minimum depth: 2330.628395 meters looking forward 0.000000 meters along route # Maximum depth: 2330.628395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2255.628395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113005; longitude = -173.765538; captureRadius = 10; duration = 200; initialDepth = 2292.680664; finalDepth = 2255.628395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2255.628395 # Seafloor depth:-2330.628395 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 100.434372 meters # Minimum depth: 2367.680664 meters looking forward 0.000000 meters along route # Maximum depth: 2367.680664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2292.680664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113698; longitude = -173.766200; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2366.704726; finalDepth = 2292.680664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2292.680664 # Seafloor depth:-2367.680664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2441.704726 meters looking forward 0.000000 meters along route # Maximum depth: 2441.704726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2366.704726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114452; longitude = -173.767400; captureRadius = 10; duration = 200; initialDepth = 2388.669359; finalDepth = 2366.704726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2366.704726 # Seafloor depth:-2441.704726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2463.669359 meters looking forward 0.000000 meters along route # Maximum depth: 2463.669359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2388.669359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114945; longitude = -173.768185; captureRadius = 10; duration = 200; initialDepth = 2374.124958; finalDepth = 2388.669359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2388.669359 # Seafloor depth:-2463.669359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2449.124958 meters looking forward 0.000000 meters along route # Maximum depth: 2449.124958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2374.124958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115446; longitude = -173.768983; captureRadius = 10; duration = 200; initialDepth = 2432.057237; finalDepth = 2374.124958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2374.124958 # Seafloor depth:-2449.124958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2512.646646 meters looking forward 0.000000 meters along route # Maximum depth: 2512.646646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2432.057237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115938; longitude = -173.769766; captureRadius = 10; duration = 200; initialDepth = 2461.754579; finalDepth = 2432.057237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5894088244695 # Actual altitude: 80.5894088244695 # Commanded vehicle depth:2432.05723717553 # Seafloor depth:-2512.646646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 322.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2536.754579 meters looking forward 0.000000 meters along route # Maximum depth: 2536.754579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2461.754579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116440; longitude = -173.770566; captureRadius = 10; duration = 200; initialDepth = 2488.039030; finalDepth = 2461.754579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5894088244695 # Actual altitude: 80.5894088244695 # Commanded vehicle depth:2461.754579 # Seafloor depth:-2536.754579 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 322.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2563.039030 meters looking forward 0.000000 meters along route # Maximum depth: 2563.039030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2488.039030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116931; longitude = -173.771348; captureRadius = 10; duration = 200; initialDepth = 2490.142054; finalDepth = 2488.039030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2488.03903 # Seafloor depth:-2563.039030 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2565.142054 meters looking forward 0.000000 meters along route # Maximum depth: 2565.142054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.142054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117457; longitude = -173.772185; captureRadius = 10; duration = 200; initialDepth = 2509.253466; finalDepth = 2490.142054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2490.142054 # Seafloor depth:-2565.142054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.434372 meters # Minimum depth: 2584.253466 meters looking forward 0.000000 meters along route # Maximum depth: 2584.253466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.253466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117983; longitude = -173.773022; captureRadius = 10; duration = 200; initialDepth = 2538.499817; finalDepth = 2509.253466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2509.253466 # Seafloor depth:-2584.253466 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 100.434372 meters # Minimum depth: 2613.499817 meters looking forward 0.000000 meters along route # Maximum depth: 2613.499817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2538.499817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118490; longitude = -173.773829; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2546.017600; finalDepth = 2538.499817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2538.499817 # Seafloor depth:-2613.499817 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2621.017600 meters looking forward 0.000000 meters along route # Maximum depth: 2621.017600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2546.017600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118725; longitude = -173.775441; captureRadius = 10; duration = 200; initialDepth = 2556.990283; finalDepth = 2546.017600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2546.0176 # Seafloor depth:-2621.017600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2631.990283 meters looking forward 0.000000 meters along route # Maximum depth: 2631.990283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2556.990283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118861; longitude = -173.776371; captureRadius = 10; duration = 200; initialDepth = 2590.041665; finalDepth = 2556.990283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2556.990283 # Seafloor depth:-2631.990283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2665.041665 meters looking forward 0.000000 meters along route # Maximum depth: 2665.041665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2590.041665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118997; longitude = -173.777302; captureRadius = 10; duration = 200; initialDepth = 2622.566992; finalDepth = 2590.041665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2590.041665 # Seafloor depth:-2665.041665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2697.566992 meters looking forward 0.000000 meters along route # Maximum depth: 2697.566992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2622.566992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119132; longitude = -173.778232; captureRadius = 10; duration = 200; initialDepth = 2660.585875; finalDepth = 2622.566992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2622.566992 # Seafloor depth:-2697.566992 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2735.585875 meters looking forward 0.000000 meters along route # Maximum depth: 2735.585875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2660.585875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119268; longitude = -173.779162; captureRadius = 10; duration = 200; initialDepth = 2673.446097; finalDepth = 2660.585875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2660.585875 # Seafloor depth:-2735.585875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2748.446097 meters looking forward 0.000000 meters along route # Maximum depth: 2748.446097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2673.446097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119404; longitude = -173.780092; captureRadius = 10; duration = 200; initialDepth = 2689.643415; finalDepth = 2673.446097; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2673.446097 # Seafloor depth:-2748.446097 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2764.643415 meters looking forward 0.000000 meters along route # Maximum depth: 2764.643415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2689.643415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119540; longitude = -173.781023; captureRadius = 10; duration = 200; initialDepth = 2727.208788; finalDepth = 2689.643415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2689.643415 # Seafloor depth:-2764.643415 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2802.208788 meters looking forward 0.000000 meters along route # Maximum depth: 2802.208788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2727.208788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119675; longitude = -173.781953; captureRadius = 10; duration = 200; initialDepth = 2770.412662; finalDepth = 2727.208788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2727.208788 # Seafloor depth:-2802.208788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2845.412662 meters looking forward 0.000000 meters along route # Maximum depth: 2845.412662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2770.412662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119811; longitude = -173.782883; captureRadius = 10; duration = 200; initialDepth = 2797.262574; finalDepth = 2770.412662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2770.412662 # Seafloor depth:-2845.412662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.434372 meters # Minimum depth: 2872.262574 meters looking forward 0.000000 meters along route # Maximum depth: 2872.262574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2797.262574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119947; longitude = -173.783814; captureRadius = 10; duration = 200; initialDepth = 2813.105286; finalDepth = 2797.262574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2797.262574 # Seafloor depth:-2872.262574 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 100.434372 meters # Minimum depth: 2888.105286 meters looking forward 0.000000 meters along route # Maximum depth: 2888.105286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2813.105286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120087; longitude = -173.784775; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2813.269786; finalDepth = 2813.105286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2813.105286 # Seafloor depth:-2888.105286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.434372 meters # Minimum depth: 2888.269786 meters looking forward 0.000000 meters along route # Maximum depth: 2888.269786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2813.269786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119153; longitude = -173.785063; captureRadius = 10; duration = 200; initialDepth = 2807.412720; finalDepth = 2813.269786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2813.269786 # Seafloor depth:-2888.269786 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 100.434372 meters # Minimum depth: 2882.412720 meters looking forward 0.000000 meters along route # Maximum depth: 2882.412720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2807.412720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118279; longitude = -173.785333; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2798.124780; finalDepth = 2807.412720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2807.41272 # Seafloor depth:-2882.412720 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2873.124780 meters looking forward 0.000000 meters along route # Maximum depth: 2873.124780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2798.124780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118057; longitude = -173.783721; captureRadius = 10; duration = 200; initialDepth = 2772.308255; finalDepth = 2798.124780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2798.12478 # Seafloor depth:-2873.124780 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2847.308255 meters looking forward 0.000000 meters along route # Maximum depth: 2847.308255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.308255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117929; longitude = -173.782790; captureRadius = 10; duration = 200; initialDepth = 2748.395434; finalDepth = 2772.308255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2772.308255 # Seafloor depth:-2847.308255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2823.395434 meters looking forward 0.000000 meters along route # Maximum depth: 2823.395434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2748.395434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117801; longitude = -173.781860; captureRadius = 10; duration = 200; initialDepth = 2696.876277; finalDepth = 2748.395434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2748.395434 # Seafloor depth:-2823.395434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2771.876277 meters looking forward 0.000000 meters along route # Maximum depth: 2771.876277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2696.876277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117673; longitude = -173.780930; captureRadius = 10; duration = 200; initialDepth = 2651.791075; finalDepth = 2696.876277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2696.876277 # Seafloor depth:-2771.876277 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2726.791075 meters looking forward 0.000000 meters along route # Maximum depth: 2726.791075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2651.791075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117545; longitude = -173.779999; captureRadius = 10; duration = 200; initialDepth = 2619.081439; finalDepth = 2651.791075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2651.791075 # Seafloor depth:-2726.791075 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2694.081439 meters looking forward 0.000000 meters along route # Maximum depth: 2694.081439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2619.081439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117417; longitude = -173.779069; captureRadius = 10; duration = 200; initialDepth = 2574.937845; finalDepth = 2619.081439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2619.081439 # Seafloor depth:-2694.081439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2649.937845 meters looking forward 0.000000 meters along route # Maximum depth: 2649.937845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2574.937845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117289; longitude = -173.778139; captureRadius = 10; duration = 200; initialDepth = 2502.937210; finalDepth = 2574.937845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2574.937845 # Seafloor depth:-2649.937845 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2577.937210 meters looking forward 0.000000 meters along route # Maximum depth: 2577.937210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.937210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117160; longitude = -173.777209; captureRadius = 10; duration = 200; initialDepth = 2461.831543; finalDepth = 2502.937210; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2502.93721 # Seafloor depth:-2577.937210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2536.831543 meters looking forward 0.000000 meters along route # Maximum depth: 2536.831543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2461.831543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117032; longitude = -173.776278; captureRadius = 10; duration = 200; initialDepth = 2485.702924; finalDepth = 2461.831543; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2461.831543 # Seafloor depth:-2536.831543 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.434372 meters # Minimum depth: 2560.702924 meters looking forward 0.000000 meters along route # Maximum depth: 2560.702924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2485.702924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116904; longitude = -173.775348; captureRadius = 10; duration = 200; initialDepth = 2461.416199; finalDepth = 2485.702924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2485.702924 # Seafloor depth:-2560.702924 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 100.434372 meters # Minimum depth: 2536.416199 meters looking forward 0.000000 meters along route # Maximum depth: 2536.416199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2461.416199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116772; longitude = -173.774387; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2426.731125; finalDepth = 2461.416199; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2461.416199 # Seafloor depth:-2536.416199 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2501.731125 meters looking forward 0.000000 meters along route # Maximum depth: 2501.731125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2426.731125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116332; longitude = -173.773673; captureRadius = 10; duration = 200; initialDepth = 2393.449434; finalDepth = 2426.731125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2426.731125 # Seafloor depth:-2501.731125 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2468.449434 meters looking forward 0.000000 meters along route # Maximum depth: 2468.449434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2393.449434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115808; longitude = -173.772823; captureRadius = 10; duration = 200; initialDepth = 2398.151241; finalDepth = 2393.449434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2393.449434 # Seafloor depth:-2468.449434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2473.151241 meters looking forward 0.000000 meters along route # Maximum depth: 2473.151241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2398.151241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115300; longitude = -173.771999; captureRadius = 10; duration = 200; initialDepth = 2374.909955; finalDepth = 2398.151241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2398.151241 # Seafloor depth:-2473.151241 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2449.909955 meters looking forward 0.000000 meters along route # Maximum depth: 2449.909955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2374.909955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114784; longitude = -173.771162; captureRadius = 10; duration = 200; initialDepth = 2369.620278; finalDepth = 2374.909955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2374.909955 # Seafloor depth:-2449.909955 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2444.620278 meters looking forward 0.000000 meters along route # Maximum depth: 2444.620278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2369.620278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114268; longitude = -173.770324; captureRadius = 10; duration = 200; initialDepth = 2351.665007; finalDepth = 2369.620278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2369.620278 # Seafloor depth:-2444.620278 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2426.665007 meters looking forward 0.000000 meters along route # Maximum depth: 2426.665007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2351.665007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113728; longitude = -173.769450; captureRadius = 10; duration = 200; initialDepth = 2295.365146; finalDepth = 2351.665007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2351.665007 # Seafloor depth:-2426.665007 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2370.365146 meters looking forward 0.000000 meters along route # Maximum depth: 2370.365146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2295.365146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113235; longitude = -173.768650; captureRadius = 10; duration = 200; initialDepth = 2261.560373; finalDepth = 2295.365146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2295.365146 # Seafloor depth:-2370.365146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.434372 meters # Minimum depth: 2336.560373 meters looking forward 0.000000 meters along route # Maximum depth: 2336.560373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2261.560373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112719; longitude = -173.767813; captureRadius = 10; duration = 200; initialDepth = 2193.223633; finalDepth = 2261.560373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2261.560373 # Seafloor depth:-2336.560373 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 100.434372 meters # Minimum depth: 2268.223633 meters looking forward 0.000000 meters along route # Maximum depth: 2268.223633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2193.223633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112222; longitude = -173.767006; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2164.727859; finalDepth = 2193.223633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2193.223633 # Seafloor depth:-2268.223633 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 2239.727859 meters looking forward 0.000000 meters along route # Maximum depth: 2239.727859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2164.727859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111102; longitude = -173.765952; captureRadius = 10; duration = 200; initialDepth = 2129.748364; finalDepth = 2164.727859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2164.727859 # Seafloor depth:-2239.727859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 2204.748364 meters looking forward 0.000000 meters along route # Maximum depth: 2204.748364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2129.748364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110410; longitude = -173.765301; captureRadius = 10; duration = 200; initialDepth = 2076.430981; finalDepth = 2129.748364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2129.748364 # Seafloor depth:-2204.748364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 2151.430981 meters looking forward 0.000000 meters along route # Maximum depth: 2151.430981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2076.430981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109718; longitude = -173.764650; captureRadius = 10; duration = 200; initialDepth = 2035.946159; finalDepth = 2076.430981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2076.430981 # Seafloor depth:-2151.430981 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 2110.946159 meters looking forward 0.000000 meters along route # Maximum depth: 2110.946159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2035.946159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109027; longitude = -173.763998; captureRadius = 10; duration = 200; initialDepth = 2000.687099; finalDepth = 2035.946159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2035.946159 # Seafloor depth:-2110.946159 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 2075.687099 meters looking forward 0.000000 meters along route # Maximum depth: 2075.687099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2000.687099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108335; longitude = -173.763347; captureRadius = 10; duration = 200; initialDepth = 1974.009296; finalDepth = 2000.687099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2000.687099 # Seafloor depth:-2075.687099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 2049.009296 meters looking forward 0.000000 meters along route # Maximum depth: 2049.009296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1974.009296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107643; longitude = -173.762696; captureRadius = 10; duration = 200; initialDepth = 1941.217482; finalDepth = 1974.009296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1974.009296 # Seafloor depth:-2049.009296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 2016.217482 meters looking forward 0.000000 meters along route # Maximum depth: 2016.217482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1941.217482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106948; longitude = -173.762042; captureRadius = 10; duration = 200; initialDepth = 1887.272063; finalDepth = 1941.217482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1941.217482 # Seafloor depth:-2016.217482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 1962.272063 meters looking forward 0.000000 meters along route # Maximum depth: 1962.272063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1887.272063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106225; longitude = -173.761362; captureRadius = 10; duration = 200; initialDepth = 1860.815001; finalDepth = 1887.272063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1887.272063 # Seafloor depth:-1962.272063 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.434372 meters # Minimum depth: 1935.815001 meters looking forward 0.000000 meters along route # Maximum depth: 1935.815001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1860.815001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105502; longitude = -173.760681; captureRadius = 10; duration = 200; initialDepth = 1815.143829; finalDepth = 1860.815001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1860.815001 # Seafloor depth:-1935.815001 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 100.434372 meters # Minimum depth: 1890.143829 meters looking forward 0.000000 meters along route # Maximum depth: 1890.143829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1815.143829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104809; longitude = -173.760029; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1738.966919; finalDepth = 1815.143829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1815.143829 # Seafloor depth:-1890.143829 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 100.434372 meters # Minimum depth: 1813.966919 meters looking forward 0.000000 meters along route # Maximum depth: 1813.966919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1738.966919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103573; longitude = -173.761084; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1798.344409; finalDepth = 1738.966919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1738.966919 # Seafloor depth:-1813.966919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.434372 meters # Minimum depth: 1873.344409 meters looking forward 0.000000 meters along route # Maximum depth: 1873.344409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1798.344409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104688; longitude = -173.762231; captureRadius = 10; duration = 200; initialDepth = 1827.433640; finalDepth = 1798.344409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1798.344409 # Seafloor depth:-1873.344409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.434372 meters # Minimum depth: 1902.433640 meters looking forward 0.000000 meters along route # Maximum depth: 1902.433640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1827.433640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105411; longitude = -173.762975; captureRadius = 10; duration = 200; initialDepth = 1864.445857; finalDepth = 1827.433640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1827.43364 # Seafloor depth:-1902.433640 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.434372 meters # Minimum depth: 1939.445857 meters looking forward 0.000000 meters along route # Maximum depth: 1939.445857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1864.445857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106135; longitude = -173.763719; captureRadius = 10; duration = 200; initialDepth = 1875.983551; finalDepth = 1864.445857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1864.445857 # Seafloor depth:-1939.445857 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 100.434372 meters # Minimum depth: 1950.983551 meters looking forward 0.000000 meters along route # Maximum depth: 1950.983551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1875.983551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106798; longitude = -173.764402; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1905.625267; finalDepth = 1875.983551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1875.983551 # Seafloor depth:-1950.983551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.434372 meters # Minimum depth: 1980.625267 meters looking forward 0.000000 meters along route # Maximum depth: 1980.625267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1905.625267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107400; longitude = -173.764953; captureRadius = 10; duration = 200; initialDepth = 1950.869769; finalDepth = 1905.625267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1905.625267 # Seafloor depth:-1980.625267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.434372 meters # Minimum depth: 2025.869769 meters looking forward 0.000000 meters along route # Maximum depth: 2025.869769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1950.869769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108085; longitude = -173.765580; captureRadius = 10; duration = 200; initialDepth = 2009.780341; finalDepth = 1950.869769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1950.869769 # Seafloor depth:-2025.869769 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.434372 meters # Minimum depth: 2084.780341 meters looking forward 0.000000 meters along route # Maximum depth: 2084.780341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2009.780341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108796; longitude = -173.766231; captureRadius = 10; duration = 200; initialDepth = 2066.967120; finalDepth = 2009.780341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2009.780341 # Seafloor depth:-2084.780341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.434372 meters # Minimum depth: 2141.967120 meters looking forward 0.000000 meters along route # Maximum depth: 2141.967120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2066.967120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109507; longitude = -173.766882; captureRadius = 10; duration = 200; initialDepth = 2107.590538; finalDepth = 2066.967120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2066.96712 # Seafloor depth:-2141.967120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.434372 meters # Minimum depth: 2182.590538 meters looking forward 0.000000 meters along route # Maximum depth: 2182.590538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2107.590538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110218; longitude = -173.767534; captureRadius = 10; duration = 200; initialDepth = 2116.508789; finalDepth = 2107.590538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2107.590538 # Seafloor depth:-2182.590538 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 100.434372 meters # Minimum depth: 2191.508789 meters looking forward 0.000000 meters along route # Maximum depth: 2191.508789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2116.508789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110896; longitude = -173.768154; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2180.651774; finalDepth = 2116.508789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2116.508789 # Seafloor depth:-2191.508789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.434372 meters # Minimum depth: 2255.651774 meters looking forward 0.000000 meters along route # Maximum depth: 2255.651774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2180.651774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111468; longitude = -173.769038; captureRadius = 10; duration = 200; initialDepth = 2208.353299; finalDepth = 2180.651774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2180.651774 # Seafloor depth:-2255.651774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.434372 meters # Minimum depth: 2283.353299 meters looking forward 0.000000 meters along route # Maximum depth: 2283.353299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2208.353299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112011; longitude = -173.769875; captureRadius = 10; duration = 200; initialDepth = 2254.514697; finalDepth = 2208.353299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2208.353299 # Seafloor depth:-2283.353299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.434372 meters # Minimum depth: 2329.514697 meters looking forward 0.000000 meters along route # Maximum depth: 2329.514697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2254.514697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112553; longitude = -173.770712; captureRadius = 10; duration = 200; initialDepth = 2269.475082; finalDepth = 2254.514697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2254.514697 # Seafloor depth:-2329.514697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.434372 meters # Minimum depth: 2344.475082 meters looking forward 0.000000 meters along route # Maximum depth: 2344.475082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2269.475082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113096; longitude = -173.771549; captureRadius = 10; duration = 200; initialDepth = 2300.597281; finalDepth = 2269.475082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2269.475082 # Seafloor depth:-2344.475082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.434372 meters # Minimum depth: 2375.597281 meters looking forward 0.000000 meters along route # Maximum depth: 2375.597281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2300.597281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113638; longitude = -173.772387; captureRadius = 10; duration = 200; initialDepth = 2328.725168; finalDepth = 2300.597281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2300.597281 # Seafloor depth:-2375.597281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.434372 meters # Minimum depth: 2403.725168 meters looking forward 0.000000 meters along route # Maximum depth: 2403.725168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2328.725168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114180; longitude = -173.773224; captureRadius = 10; duration = 200; initialDepth = 2362.006448; finalDepth = 2328.725168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2328.725168 # Seafloor depth:-2403.725168 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.434372 meters # Minimum depth: 2437.006448 meters looking forward 0.000000 meters along route # Maximum depth: 2437.006448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2362.006448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114723; longitude = -173.774061; captureRadius = 10; duration = 200; initialDepth = 2421.025457; finalDepth = 2362.006448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2362.006448 # Seafloor depth:-2437.006448 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 100.434372 meters # Minimum depth: 2504.998962 meters looking forward 0.000000 meters along route # Maximum depth: 2504.998962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2421.025457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115235; longitude = -173.774852; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2472.478865; finalDepth = 2421.025457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9735051783459 # Actual altitude: 83.9735051783459 # Commanded vehicle depth:2421.02545682165 # Seafloor depth:-2504.998962 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2547.478865 meters looking forward 0.000000 meters along route # Maximum depth: 2547.478865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2472.478865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115356; longitude = -173.775728; captureRadius = 10; duration = 200; initialDepth = 2496.949171; finalDepth = 2472.478865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9735051783459 # Actual altitude: 83.9735051783459 # Commanded vehicle depth:2472.478865 # Seafloor depth:-2547.478865 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2571.949171 meters looking forward 0.000000 meters along route # Maximum depth: 2571.949171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2496.949171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115483; longitude = -173.776650; captureRadius = 10; duration = 200; initialDepth = 2535.454208; finalDepth = 2496.949171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2496.949171 # Seafloor depth:-2571.949171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2610.454208 meters looking forward 0.000000 meters along route # Maximum depth: 2610.454208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2535.454208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115611; longitude = -173.777581; captureRadius = 10; duration = 200; initialDepth = 2549.253403; finalDepth = 2535.454208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2535.454208 # Seafloor depth:-2610.454208 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2624.253403 meters looking forward 0.000000 meters along route # Maximum depth: 2624.253403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2549.253403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115739; longitude = -173.778511; captureRadius = 10; duration = 200; initialDepth = 2568.294600; finalDepth = 2549.253403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2549.253403 # Seafloor depth:-2624.253403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2643.294600 meters looking forward 0.000000 meters along route # Maximum depth: 2643.294600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2568.294600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115867; longitude = -173.779441; captureRadius = 10; duration = 200; initialDepth = 2626.647078; finalDepth = 2568.294600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2568.2946 # Seafloor depth:-2643.294600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2704.056971 meters looking forward 0.000000 meters along route # Maximum depth: 2704.056971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2626.647078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115995; longitude = -173.780372; captureRadius = 10; duration = 200; initialDepth = 2636.213358; finalDepth = 2626.647078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4098928431213 # Actual altitude: 77.4098928431213 # Commanded vehicle depth:2626.64707815688 # Seafloor depth:-2704.056971 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2711.213358 meters looking forward 0.000000 meters along route # Maximum depth: 2711.213358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2636.213358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116123; longitude = -173.781302; captureRadius = 10; duration = 200; initialDepth = 2654.103330; finalDepth = 2636.213358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4098928431213 # Actual altitude: 77.4098928431213 # Commanded vehicle depth:2636.213358 # Seafloor depth:-2711.213358 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.64; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 309.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2729.103330 meters looking forward 0.000000 meters along route # Maximum depth: 2729.103330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2654.103330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116251; longitude = -173.782232; captureRadius = 10; duration = 200; initialDepth = 2685.331798; finalDepth = 2654.103330; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2654.10333 # Seafloor depth:-2729.103330 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2760.331798 meters looking forward 0.000000 meters along route # Maximum depth: 2760.331798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2685.331798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116379; longitude = -173.783162; captureRadius = 10; duration = 200; initialDepth = 2690.355882; finalDepth = 2685.331798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2685.331798 # Seafloor depth:-2760.331798 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2765.355882 meters looking forward 0.000000 meters along route # Maximum depth: 2765.355882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2690.355882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116507; longitude = -173.784093; captureRadius = 10; duration = 200; initialDepth = 2731.587361; finalDepth = 2690.355882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2690.355882 # Seafloor depth:-2765.355882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.434372 meters # Minimum depth: 2806.587361 meters looking forward 0.000000 meters along route # Maximum depth: 2806.587361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2731.587361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116635; longitude = -173.785023; captureRadius = 10; duration = 200; initialDepth = 2793.811202; finalDepth = 2731.587361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2731.587361 # Seafloor depth:-2806.587361 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 100.434372 meters # Minimum depth: 2876.171021 meters looking forward 0.000000 meters along route # Maximum depth: 2876.171021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2793.811202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116772; longitude = -173.786015; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2775.731935; finalDepth = 2793.811202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3598191600031 # Actual altitude: 82.3598191600031 # Commanded vehicle depth:2793.81120184 # Seafloor depth:-2876.171021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 329.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 100.434372 meters # Minimum depth: 2850.731935 meters looking forward 0.000000 meters along route # Maximum depth: 2850.731935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2775.731935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115969; longitude = -173.786232; captureRadius = 10; duration = 200; initialDepth = 2799.257874; finalDepth = 2775.731935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 82.3598191600031 # Actual altitude: 82.3598191600031 # Commanded vehicle depth:2775.731935 # Seafloor depth:-2850.731935 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.44; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 329.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 100.434372 meters # Minimum depth: 2874.257874 meters looking forward 0.000000 meters along route # Maximum depth: 2874.257874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2799.257874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115054; longitude = -173.786480; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2763.832192; finalDepth = 2799.257874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2799.257874 # Seafloor depth:-2874.257874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2838.832192 meters looking forward 0.000000 meters along route # Maximum depth: 2838.832192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2763.832192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114955; longitude = -173.785674; captureRadius = 10; duration = 200; initialDepth = 2718.866529; finalDepth = 2763.832192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2763.832192 # Seafloor depth:-2838.832192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2793.866529 meters looking forward 0.000000 meters along route # Maximum depth: 2793.866529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2718.866529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114841; longitude = -173.784744; captureRadius = 10; duration = 200; initialDepth = 2683.072394; finalDepth = 2718.866529; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2718.866529 # Seafloor depth:-2793.866529 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2758.072394 meters looking forward 0.000000 meters along route # Maximum depth: 2758.072394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2683.072394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114727; longitude = -173.783814; captureRadius = 10; duration = 200; initialDepth = 2699.473129; finalDepth = 2683.072394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2683.072394 # Seafloor depth:-2758.072394 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2774.473129 meters looking forward 0.000000 meters along route # Maximum depth: 2774.473129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2699.473129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114613; longitude = -173.782883; captureRadius = 10; duration = 200; initialDepth = 2663.837917; finalDepth = 2699.473129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2699.473129 # Seafloor depth:-2774.473129 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2738.837917 meters looking forward 0.000000 meters along route # Maximum depth: 2738.837917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2663.837917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114499; longitude = -173.781953; captureRadius = 10; duration = 200; initialDepth = 2619.203595; finalDepth = 2663.837917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2663.837917 # Seafloor depth:-2738.837917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2694.203595 meters looking forward 0.000000 meters along route # Maximum depth: 2694.203595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2619.203595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114386; longitude = -173.781023; captureRadius = 10; duration = 200; initialDepth = 2569.305250; finalDepth = 2619.203595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2619.203595 # Seafloor depth:-2694.203595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2644.305250 meters looking forward 0.000000 meters along route # Maximum depth: 2644.305250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2569.305250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114271; longitude = -173.780086; captureRadius = 10; duration = 200; initialDepth = 2560.944055; finalDepth = 2569.305250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2569.30525 # Seafloor depth:-2644.305250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2635.944055 meters looking forward 0.000000 meters along route # Maximum depth: 2635.944055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2560.944055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114158; longitude = -173.779162; captureRadius = 10; duration = 200; initialDepth = 2538.211624; finalDepth = 2560.944055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2560.944055 # Seafloor depth:-2635.944055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2613.211624 meters looking forward 0.000000 meters along route # Maximum depth: 2613.211624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2538.211624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114044; longitude = -173.778232; captureRadius = 10; duration = 200; initialDepth = 2499.873436; finalDepth = 2538.211624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2538.211624 # Seafloor depth:-2613.211624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2574.873436 meters looking forward 0.000000 meters along route # Maximum depth: 2574.873436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.873436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113930; longitude = -173.777302; captureRadius = 10; duration = 200; initialDepth = 2471.289595; finalDepth = 2499.873436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2499.873436 # Seafloor depth:-2574.873436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.434372 meters # Minimum depth: 2546.289595 meters looking forward 0.000000 meters along route # Maximum depth: 2546.289595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2471.289595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113816; longitude = -173.776371; captureRadius = 10; duration = 200; initialDepth = 2390.930115; finalDepth = 2471.289595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2471.289595 # Seafloor depth:-2546.289595 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 100.434372 meters # Minimum depth: 2465.930115 meters looking forward 0.000000 meters along route # Maximum depth: 2465.930115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2390.930115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113698; longitude = -173.775410; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2365.007676; finalDepth = 2390.930115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2390.930115 # Seafloor depth:-2465.930115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.434372 meters # Minimum depth: 2440.007676 meters looking forward 0.000000 meters along route # Maximum depth: 2440.007676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2365.007676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113078; longitude = -173.774511; captureRadius = 10; duration = 200; initialDepth = 2372.957222; finalDepth = 2365.007676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2365.007676 # Seafloor depth:-2440.007676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.434372 meters # Minimum depth: 2447.957222 meters looking forward 0.000000 meters along route # Maximum depth: 2447.957222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2372.957222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112553; longitude = -173.773751; captureRadius = 10; duration = 200; initialDepth = 2316.767578; finalDepth = 2372.957222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2372.957222 # Seafloor depth:-2447.957222 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.434372 meters # Minimum depth: 2391.767578 meters looking forward 0.000000 meters along route # Maximum depth: 2391.767578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2316.767578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112011; longitude = -173.772965; captureRadius = 10; duration = 200; initialDepth = 2276.537093; finalDepth = 2316.767578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2316.767578 # Seafloor depth:-2391.767578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.434372 meters # Minimum depth: 2351.537093 meters looking forward 0.000000 meters along route # Maximum depth: 2351.537093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2276.537093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111468; longitude = -173.772179; captureRadius = 10; duration = 200; initialDepth = 2254.861903; finalDepth = 2276.537093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2276.537093 # Seafloor depth:-2351.537093 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.434372 meters # Minimum depth: 2329.861903 meters looking forward 0.000000 meters along route # Maximum depth: 2329.861903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2254.861903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110926; longitude = -173.771392; captureRadius = 10; duration = 200; initialDepth = 2187.322607; finalDepth = 2254.861903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2254.861903 # Seafloor depth:-2329.861903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.434372 meters # Minimum depth: 2262.322607 meters looking forward 0.000000 meters along route # Maximum depth: 2262.322607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2187.322607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110382; longitude = -173.770604; captureRadius = 10; duration = 200; initialDepth = 2145.346380; finalDepth = 2187.322607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2187.322607 # Seafloor depth:-2262.322607 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.434372 meters # Minimum depth: 2220.346380 meters looking forward 0.000000 meters along route # Maximum depth: 2220.346380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2145.346380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109804; longitude = -173.769766; captureRadius = 10; duration = 200; initialDepth = 2121.721008; finalDepth = 2145.346380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2145.34638 # Seafloor depth:-2220.346380 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 100.434372 meters # Minimum depth: 2196.721008 meters looking forward 0.000000 meters along route # Maximum depth: 2196.721008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2121.721008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109269; longitude = -173.768991; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2090.346293; finalDepth = 2121.721008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2121.721008 # Seafloor depth:-2196.721008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 2165.346293 meters looking forward 0.000000 meters along route # Maximum depth: 2165.346293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2090.346293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108623; longitude = -173.768371; captureRadius = 10; duration = 200; initialDepth = 2058.361902; finalDepth = 2090.346293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2090.346293 # Seafloor depth:-2165.346293 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 2133.361902 meters looking forward 0.000000 meters along route # Maximum depth: 2133.361902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2058.361902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107943; longitude = -173.767717; captureRadius = 10; duration = 200; initialDepth = 2046.759221; finalDepth = 2058.361902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2058.361902 # Seafloor depth:-2133.361902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 2121.759221 meters looking forward 0.000000 meters along route # Maximum depth: 2121.759221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2046.759221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107268; longitude = -173.767068; captureRadius = 10; duration = 200; initialDepth = 2019.496295; finalDepth = 2046.759221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2046.759221 # Seafloor depth:-2121.759221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 2094.496295 meters looking forward 0.000000 meters along route # Maximum depth: 2094.496295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2019.496295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106587; longitude = -173.766414; captureRadius = 10; duration = 200; initialDepth = 1987.328913; finalDepth = 2019.496295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2019.496295 # Seafloor depth:-2094.496295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 2062.328913 meters looking forward 0.000000 meters along route # Maximum depth: 2062.328913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1987.328913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105912; longitude = -173.765766; captureRadius = 10; duration = 200; initialDepth = 1939.896863; finalDepth = 1987.328913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1987.328913 # Seafloor depth:-2062.328913 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 2014.896863 meters looking forward 0.000000 meters along route # Maximum depth: 2014.896863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1939.896863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105231; longitude = -173.765112; captureRadius = 10; duration = 200; initialDepth = 1912.907508; finalDepth = 1939.896863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1939.896863 # Seafloor depth:-2014.896863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 1987.907508 meters looking forward 0.000000 meters along route # Maximum depth: 1987.907508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1912.907508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104556; longitude = -173.764464; captureRadius = 10; duration = 200; initialDepth = 1858.597271; finalDepth = 1912.907508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1912.907508 # Seafloor depth:-1987.907508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 1933.597271 meters looking forward 0.000000 meters along route # Maximum depth: 1933.597271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1858.597271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103875; longitude = -173.763809; captureRadius = 10; duration = 200; initialDepth = 1821.092081; finalDepth = 1858.597271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1858.597271 # Seafloor depth:-1933.597271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 1896.092081 meters looking forward 0.000000 meters along route # Maximum depth: 1896.092081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1821.092081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103200; longitude = -173.763161; captureRadius = 10; duration = 200; initialDepth = 1808.965779; finalDepth = 1821.092081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1821.092081 # Seafloor depth:-1896.092081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 1883.965779 meters looking forward 0.000000 meters along route # Maximum depth: 1883.965779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1808.965779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102519; longitude = -173.762507; captureRadius = 10; duration = 200; initialDepth = 1779.378871; finalDepth = 1808.965779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1808.965779 # Seafloor depth:-1883.965779 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.434372 meters # Minimum depth: 1854.378871 meters looking forward 0.000000 meters along route # Maximum depth: 1854.378871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1779.378871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101795; longitude = -173.761812; captureRadius = 10; duration = 200; initialDepth = 1762.364380; finalDepth = 1779.378871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1779.378871 # Seafloor depth:-1854.378871 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 100.434372 meters # Minimum depth: 1837.364380 meters looking forward 0.000000 meters along route # Maximum depth: 1837.364380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1762.364380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101102; longitude = -173.761146; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1722.415616; finalDepth = 1762.364380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1762.36438 # Seafloor depth:-1837.364380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 100.434372 meters # Minimum depth: 1797.415616 meters looking forward 0.000000 meters along route # Maximum depth: 1797.415616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1722.415616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101886; longitude = -173.761042; captureRadius = 10; duration = 200; initialDepth = 1706.486955; finalDepth = 1722.415616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1722.415616 # Seafloor depth:-1797.415616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 100.434372 meters # Minimum depth: 1781.486955 meters looking forward 0.000000 meters along route # Maximum depth: 1781.486955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1706.486955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102790; longitude = -173.760923; captureRadius = 10; duration = 200; initialDepth = 1730.127965; finalDepth = 1706.486955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1706.486955 # Seafloor depth:-1781.486955 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 100.434372 meters # Minimum depth: 1805.127965 meters looking forward 0.000000 meters along route # Maximum depth: 1805.127965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1730.127965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103694; longitude = -173.760803; captureRadius = 10; duration = 200; initialDepth = 1790.340901; finalDepth = 1730.127965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1730.127965 # Seafloor depth:-1805.127965 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 100.434372 meters # Minimum depth: 1869.156982 meters looking forward 0.000000 meters along route # Maximum depth: 1869.156982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1790.340901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104628; longitude = -173.760680; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1883.541546; finalDepth = 1790.340901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.816080755257 # Actual altitude: 78.816080755257 # Commanded vehicle depth:1790.34090124474 # Seafloor depth:-1869.156982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.434372 meters # Minimum depth: 1960.087794 meters looking forward 0.000000 meters along route # Maximum depth: 1960.087794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1883.541546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105773; longitude = -173.759751; captureRadius = 10; duration = 200; initialDepth = 1942.750699; finalDepth = 1883.541546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.816080755257 # Actual altitude: 78.816080755257 # Commanded vehicle depth:1883.54154580138 # Seafloor depth:-1960.087794 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.26; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.64; MB_Bottom_Detect_Filter_Max_Range = 315.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.434372 meters # Minimum depth: 2021.788879 meters looking forward 0.000000 meters along route # Maximum depth: 2021.788879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1942.750699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106500; longitude = -173.759161; captureRadius = 10; duration = 200; initialDepth = 1991.049003; finalDepth = 1942.750699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0381804205851 # Actual altitude: 79.0381804205851 # Commanded vehicle depth:1942.75069857941 # Seafloor depth:-2021.788879 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.434372 meters # Minimum depth: 2066.049003 meters looking forward 0.000000 meters along route # Maximum depth: 2066.049003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1991.049003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107219; longitude = -173.758578; captureRadius = 10; duration = 200; initialDepth = 2034.297450; finalDepth = 1991.049003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0381804205851 # Actual altitude: 79.0381804205851 # Commanded vehicle depth:1991.049003 # Seafloor depth:-2066.049003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.434372 meters # Minimum depth: 2109.297450 meters looking forward 0.000000 meters along route # Maximum depth: 2109.297450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2034.297450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107943; longitude = -173.757991; captureRadius = 10; duration = 200; initialDepth = 2079.867268; finalDepth = 2034.297450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2034.29745 # Seafloor depth:-2109.297450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.434372 meters # Minimum depth: 2154.867268 meters looking forward 0.000000 meters along route # Maximum depth: 2154.867268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2079.867268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108679; longitude = -173.757393; captureRadius = 10; duration = 200; initialDepth = 2110.204920; finalDepth = 2079.867268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2079.867268 # Seafloor depth:-2154.867268 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.434372 meters # Minimum depth: 2185.204920 meters looking forward 0.000000 meters along route # Maximum depth: 2185.204920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2110.204920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109389; longitude = -173.756817; captureRadius = 10; duration = 200; initialDepth = 2127.786475; finalDepth = 2110.204920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2110.20492 # Seafloor depth:-2185.204920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.434372 meters # Minimum depth: 2202.786475 meters looking forward 0.000000 meters along route # Maximum depth: 2202.786475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2127.786475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110170; longitude = -173.756184; captureRadius = 10; duration = 200; initialDepth = 2147.074829; finalDepth = 2127.786475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2127.786475 # Seafloor depth:-2202.786475 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 100.434372 meters # Minimum depth: 2222.074829 meters looking forward 0.000000 meters along route # Maximum depth: 2222.074829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2147.074829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110896; longitude = -173.755595; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2090.846630; finalDepth = 2147.074829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2147.074829 # Seafloor depth:-2222.074829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.434372 meters # Minimum depth: 2165.846630 meters looking forward 0.000000 meters along route # Maximum depth: 2165.846630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2090.846630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110005; longitude = -173.754416; captureRadius = 10; duration = 200; initialDepth = 2054.156517; finalDepth = 2090.846630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2090.84663 # Seafloor depth:-2165.846630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.434372 meters # Minimum depth: 2129.156517 meters looking forward 0.000000 meters along route # Maximum depth: 2129.156517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2054.156517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109443; longitude = -173.753672; captureRadius = 10; duration = 200; initialDepth = 2018.407726; finalDepth = 2054.156517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2054.156517 # Seafloor depth:-2129.156517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.434372 meters # Minimum depth: 2093.407726 meters looking forward 0.000000 meters along route # Maximum depth: 2093.407726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2018.407726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108880; longitude = -173.752928; captureRadius = 10; duration = 200; initialDepth = 1987.683248; finalDepth = 2018.407726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2018.407726 # Seafloor depth:-2093.407726 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.434372 meters # Minimum depth: 2062.683248 meters looking forward 0.000000 meters along route # Maximum depth: 2062.683248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1987.683248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108304; longitude = -173.752166; captureRadius = 10; duration = 200; initialDepth = 1954.981567; finalDepth = 1987.683248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1987.683248 # Seafloor depth:-2062.683248 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 100.434372 meters # Minimum depth: 2029.981567 meters looking forward 0.000000 meters along route # Maximum depth: 2029.981567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1954.981567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107732; longitude = -173.751409; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2028.329508; finalDepth = 1954.981567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1954.981567 # Seafloor depth:-2029.981567 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2103.329508 meters looking forward 0.000000 meters along route # Maximum depth: 2103.329508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2028.329508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109092; longitude = -173.750974; captureRadius = 10; duration = 200; initialDepth = 2080.478689; finalDepth = 2028.329508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2028.329508 # Seafloor depth:-2103.329508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2155.478689 meters looking forward 0.000000 meters along route # Maximum depth: 2155.478689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2080.478689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109965; longitude = -173.750695; captureRadius = 10; duration = 200; initialDepth = 2128.859881; finalDepth = 2080.478689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2080.478689 # Seafloor depth:-2155.478689 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2203.859881 meters looking forward 0.000000 meters along route # Maximum depth: 2203.859881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2128.859881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110838; longitude = -173.750416; captureRadius = 10; duration = 200; initialDepth = 2165.311388; finalDepth = 2128.859881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2128.859881 # Seafloor depth:-2203.859881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2240.311388 meters looking forward 0.000000 meters along route # Maximum depth: 2240.311388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2165.311388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111711; longitude = -173.750137; captureRadius = 10; duration = 200; initialDepth = 2184.578440; finalDepth = 2165.311388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2165.311388 # Seafloor depth:-2240.311388 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2259.578440 meters looking forward 0.000000 meters along route # Maximum depth: 2259.578440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2184.578440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112584; longitude = -173.749858; captureRadius = 10; duration = 200; initialDepth = 2220.986204; finalDepth = 2184.578440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2184.57844 # Seafloor depth:-2259.578440 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2295.986204 meters looking forward 0.000000 meters along route # Maximum depth: 2295.986204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2220.986204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113457; longitude = -173.749579; captureRadius = 10; duration = 200; initialDepth = 2241.405296; finalDepth = 2220.986204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2220.986204 # Seafloor depth:-2295.986204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2316.405296 meters looking forward 0.000000 meters along route # Maximum depth: 2316.405296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2241.405296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114330; longitude = -173.749300; captureRadius = 10; duration = 200; initialDepth = 2256.980167; finalDepth = 2241.405296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2241.405296 # Seafloor depth:-2316.405296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2331.980167 meters looking forward 0.000000 meters along route # Maximum depth: 2331.980167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2256.980167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115204; longitude = -173.749021; captureRadius = 10; duration = 200; initialDepth = 2294.917861; finalDepth = 2256.980167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2256.980167 # Seafloor depth:-2331.980167 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2369.917861 meters looking forward 0.000000 meters along route # Maximum depth: 2369.917861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2294.917861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116079; longitude = -173.748741; captureRadius = 10; duration = 200; initialDepth = 2332.168876; finalDepth = 2294.917861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2294.917861 # Seafloor depth:-2369.917861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2407.168876 meters looking forward 0.000000 meters along route # Maximum depth: 2407.168876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2332.168876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116950; longitude = -173.748463; captureRadius = 10; duration = 200; initialDepth = 2365.445509; finalDepth = 2332.168876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2332.168876 # Seafloor depth:-2407.168876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2440.445509 meters looking forward 0.000000 meters along route # Maximum depth: 2440.445509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2365.445509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117823; longitude = -173.748184; captureRadius = 10; duration = 200; initialDepth = 2396.551302; finalDepth = 2365.445509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2365.445509 # Seafloor depth:-2440.445509 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2471.551302 meters looking forward 0.000000 meters along route # Maximum depth: 2471.551302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2396.551302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118700; longitude = -173.747903; captureRadius = 10; duration = 200; initialDepth = 2402.646551; finalDepth = 2396.551302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2396.551302 # Seafloor depth:-2471.551302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2477.646551 meters looking forward 0.000000 meters along route # Maximum depth: 2477.646551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2402.646551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119605; longitude = -173.747614; captureRadius = 10; duration = 200; initialDepth = 2415.364102; finalDepth = 2402.646551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2402.646551 # Seafloor depth:-2477.646551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2490.364102 meters looking forward 0.000000 meters along route # Maximum depth: 2490.364102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2415.364102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120509; longitude = -173.747325; captureRadius = 10; duration = 200; initialDepth = 2450.034120; finalDepth = 2415.364102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2415.364102 # Seafloor depth:-2490.364102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.434372 meters # Minimum depth: 2525.034120 meters looking forward 0.000000 meters along route # Maximum depth: 2525.034120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2450.034120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121413; longitude = -173.747036; captureRadius = 10; duration = 200; initialDepth = 2490.760193; finalDepth = 2450.034120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2450.03412 # Seafloor depth:-2525.034120 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 100.434372 meters # Minimum depth: 2565.760193 meters looking forward 0.000000 meters along route # Maximum depth: 2565.760193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.760193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122286; longitude = -173.746757; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2433.149536; finalDepth = 2490.760193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2490.760193 # Seafloor depth:-2565.760193 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 100.434372 meters # Minimum depth: 2508.149536 meters looking forward 0.000000 meters along route # Maximum depth: 2508.149536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2433.149536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121623; longitude = -173.745331; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2424.578279; finalDepth = 2433.149536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2433.149536 # Seafloor depth:-2508.149536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2499.578279 meters looking forward 0.000000 meters along route # Maximum depth: 2499.578279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2424.578279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120260; longitude = -173.745765; captureRadius = 10; duration = 200; initialDepth = 2390.017864; finalDepth = 2424.578279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2424.578279 # Seafloor depth:-2499.578279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2465.017864 meters looking forward 0.000000 meters along route # Maximum depth: 2465.017864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2390.017864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119384; longitude = -173.746044; captureRadius = 10; duration = 200; initialDepth = 2366.689192; finalDepth = 2390.017864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2390.017864 # Seafloor depth:-2465.017864 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2441.689192 meters looking forward 0.000000 meters along route # Maximum depth: 2441.689192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2366.689192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118507; longitude = -173.746323; captureRadius = 10; duration = 200; initialDepth = 2335.265286; finalDepth = 2366.689192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2366.689192 # Seafloor depth:-2441.689192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2410.265286 meters looking forward 0.000000 meters along route # Maximum depth: 2410.265286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2335.265286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117630; longitude = -173.746602; captureRadius = 10; duration = 200; initialDepth = 2295.237518; finalDepth = 2335.265286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2335.265286 # Seafloor depth:-2410.265286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2370.237518 meters looking forward 0.000000 meters along route # Maximum depth: 2370.237518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2295.237518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116754; longitude = -173.746881; captureRadius = 10; duration = 200; initialDepth = 2253.602216; finalDepth = 2295.237518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2295.237518 # Seafloor depth:-2370.237518 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2328.602216 meters looking forward 0.000000 meters along route # Maximum depth: 2328.602216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2253.602216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115877; longitude = -173.747160; captureRadius = 10; duration = 200; initialDepth = 2196.543445; finalDepth = 2253.602216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2253.602216 # Seafloor depth:-2328.602216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2271.543445 meters looking forward 0.000000 meters along route # Maximum depth: 2271.543445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2196.543445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114994; longitude = -173.747441; captureRadius = 10; duration = 200; initialDepth = 2173.522691; finalDepth = 2196.543445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2196.543445 # Seafloor depth:-2271.543445 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2248.522691 meters looking forward 0.000000 meters along route # Maximum depth: 2248.522691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2173.522691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114124; longitude = -173.747718; captureRadius = 10; duration = 200; initialDepth = 2159.308562; finalDepth = 2173.522691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2173.522691 # Seafloor depth:-2248.522691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2234.308562 meters looking forward 0.000000 meters along route # Maximum depth: 2234.308562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2159.308562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113247; longitude = -173.747997; captureRadius = 10; duration = 200; initialDepth = 2132.682036; finalDepth = 2159.308562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2159.308562 # Seafloor depth:-2234.308562 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2207.682036 meters looking forward 0.000000 meters along route # Maximum depth: 2207.682036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2132.682036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112371; longitude = -173.748277; captureRadius = 10; duration = 200; initialDepth = 2112.683452; finalDepth = 2132.682036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2132.682036 # Seafloor depth:-2207.682036 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2187.683452 meters looking forward 0.000000 meters along route # Maximum depth: 2187.683452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2112.683452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111494; longitude = -173.748556; captureRadius = 10; duration = 200; initialDepth = 2092.941119; finalDepth = 2112.683452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2112.683452 # Seafloor depth:-2187.683452 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2167.941119 meters looking forward 0.000000 meters along route # Maximum depth: 2167.941119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2092.941119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110617; longitude = -173.748835; captureRadius = 10; duration = 200; initialDepth = 2063.939781; finalDepth = 2092.941119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2092.941119 # Seafloor depth:-2167.941119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2138.939781 meters looking forward 0.000000 meters along route # Maximum depth: 2138.939781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2063.939781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109741; longitude = -173.749114; captureRadius = 10; duration = 200; initialDepth = 2019.305302; finalDepth = 2063.939781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2063.939781 # Seafloor depth:-2138.939781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2094.305302 meters looking forward 0.000000 meters along route # Maximum depth: 2094.305302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2019.305302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108847; longitude = -173.749398; captureRadius = 10; duration = 200; initialDepth = 1970.278300; finalDepth = 2019.305302; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2019.305302 # Seafloor depth:-2094.305302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 2045.278300 meters looking forward 0.000000 meters along route # Maximum depth: 2045.278300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1970.278300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107943; longitude = -173.749686; captureRadius = 10; duration = 200; initialDepth = 1920.150793; finalDepth = 1970.278300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1970.2783 # Seafloor depth:-2045.278300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 1995.150793 meters looking forward 0.000000 meters along route # Maximum depth: 1995.150793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1920.150793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107039; longitude = -173.749974; captureRadius = 10; duration = 200; initialDepth = 1867.666329; finalDepth = 1920.150793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1920.150793 # Seafloor depth:-1995.150793 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.434372 meters # Minimum depth: 1942.666329 meters looking forward 0.000000 meters along route # Maximum depth: 1942.666329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1867.666329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106135; longitude = -173.750262; captureRadius = 10; duration = 200; initialDepth = 1818.682556; finalDepth = 1867.666329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1867.666329 # Seafloor depth:-1942.666329 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 100.434372 meters # Minimum depth: 1893.682556 meters looking forward 0.000000 meters along route # Maximum depth: 1893.682556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1818.682556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105261; longitude = -173.750540; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1747.686769; finalDepth = 1818.682556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1818.682556 # Seafloor depth:-1893.682556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.434372 meters # Minimum depth: 1822.686769 meters looking forward 0.000000 meters along route # Maximum depth: 1822.686769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1747.686769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104688; longitude = -173.749811; captureRadius = 10; duration = 200; initialDepth = 1693.612854; finalDepth = 1747.686769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1747.686769 # Seafloor depth:-1822.686769 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 100.434372 meters # Minimum depth: 1768.612854 meters looking forward 0.000000 meters along route # Maximum depth: 1768.612854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1693.612854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104116; longitude = -173.749083; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1732.279713; finalDepth = 1693.612854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1693.612854 # Seafloor depth:-1768.612854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 1807.279713 meters looking forward 0.000000 meters along route # Maximum depth: 1807.279713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1732.279713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104779; longitude = -173.748886; captureRadius = 10; duration = 200; initialDepth = 1792.443696; finalDepth = 1732.279713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1732.279713 # Seafloor depth:-1807.279713 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 1870.767664 meters looking forward 0.000000 meters along route # Maximum depth: 1870.767664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1792.443696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105683; longitude = -173.748616; captureRadius = 10; duration = 200; initialDepth = 1852.607651; finalDepth = 1792.443696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.3239677062218 # Actual altitude: 78.3239677062218 # Commanded vehicle depth:1792.44369629378 # Seafloor depth:-1870.767664 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 313.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 1936.377837 meters looking forward 0.000000 meters along route # Maximum depth: 1936.377837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1852.607651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106587; longitude = -173.748347; captureRadius = 10; duration = 200; initialDepth = 1912.771577; finalDepth = 1852.607651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7701862799556 # Actual altitude: 83.7701862799556 # Commanded vehicle depth:1852.60765072004 # Seafloor depth:-1936.377837 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 335.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 1991.357038 meters looking forward 0.000000 meters along route # Maximum depth: 1991.357038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1912.771577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107491; longitude = -173.748077; captureRadius = 10; duration = 200; initialDepth = 1972.935475; finalDepth = 1912.771577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7701862799556 # Actual altitude: 83.7701862799556 # Commanded vehicle depth:1912.77157685615 # Seafloor depth:-1991.357038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.08; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 335.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2048.352230 meters looking forward 0.000000 meters along route # Maximum depth: 2048.352230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1972.935475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108395; longitude = -173.747808; captureRadius = 10; duration = 200; initialDepth = 2017.511731; finalDepth = 1972.935475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5854611438533 # Actual altitude: 78.5854611438533 # Commanded vehicle depth:1972.93547470209 # Seafloor depth:-2048.352230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 314.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2092.511731 meters looking forward 0.000000 meters along route # Maximum depth: 2092.511731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2017.511731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109320; longitude = -173.747532; captureRadius = 10; duration = 200; initialDepth = 2025.949517; finalDepth = 2017.511731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4167552979125 # Actual altitude: 75.4167552979125 # Commanded vehicle depth:2017.511731 # Seafloor depth:-2092.511731 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.67; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 301.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2100.949517 meters looking forward 0.000000 meters along route # Maximum depth: 2100.949517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2025.949517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110203; longitude = -173.747269; captureRadius = 10; duration = 200; initialDepth = 2017.137500; finalDepth = 2025.949517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2025.949517 # Seafloor depth:-2100.949517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2092.137500 meters looking forward 0.000000 meters along route # Maximum depth: 2092.137500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2017.137500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111107; longitude = -173.747000; captureRadius = 10; duration = 200; initialDepth = 2066.674782; finalDepth = 2017.137500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2017.1375 # Seafloor depth:-2092.137500 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2141.674782 meters looking forward 0.000000 meters along route # Maximum depth: 2141.674782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2066.674782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112011; longitude = -173.746731; captureRadius = 10; duration = 200; initialDepth = 2126.838537; finalDepth = 2066.674782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2066.674782 # Seafloor depth:-2141.674782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2202.223332 meters looking forward 0.000000 meters along route # Maximum depth: 2202.223332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2126.838537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112915; longitude = -173.746461; captureRadius = 10; duration = 200; initialDepth = 2187.002264; finalDepth = 2126.838537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.3847947595727 # Actual altitude: 75.3847947595727 # Commanded vehicle depth:2126.83853724043 # Seafloor depth:-2202.223332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 301.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2267.077870 meters looking forward 0.000000 meters along route # Maximum depth: 2267.077870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2187.002264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113819; longitude = -173.746192; captureRadius = 10; duration = 200; initialDepth = 2229.140082; finalDepth = 2187.002264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0756063866579 # Actual altitude: 80.0756063866579 # Commanded vehicle depth:2187.00226361334 # Seafloor depth:-2267.077870 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 320.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2304.140082 meters looking forward 0.000000 meters along route # Maximum depth: 2304.140082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2229.140082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114723; longitude = -173.745923; captureRadius = 10; duration = 200; initialDepth = 2257.896537; finalDepth = 2229.140082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0756063866579 # Actual altitude: 80.0756063866579 # Commanded vehicle depth:2229.140082 # Seafloor depth:-2304.140082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 320.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2332.896537 meters looking forward 0.000000 meters along route # Maximum depth: 2332.896537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2257.896537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115627; longitude = -173.745653; captureRadius = 10; duration = 200; initialDepth = 2287.919016; finalDepth = 2257.896537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2257.896537 # Seafloor depth:-2332.896537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2362.919016 meters looking forward 0.000000 meters along route # Maximum depth: 2362.919016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2287.919016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116531; longitude = -173.745384; captureRadius = 10; duration = 200; initialDepth = 2317.013067; finalDepth = 2287.919016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2287.919016 # Seafloor depth:-2362.919016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2392.013067 meters looking forward 0.000000 meters along route # Maximum depth: 2392.013067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2317.013067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117438; longitude = -173.745114; captureRadius = 10; duration = 200; initialDepth = 2352.825246; finalDepth = 2317.013067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2317.013067 # Seafloor depth:-2392.013067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2427.825246 meters looking forward 0.000000 meters along route # Maximum depth: 2427.825246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2352.825246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118374; longitude = -173.744835; captureRadius = 10; duration = 200; initialDepth = 2410.632141; finalDepth = 2352.825246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2352.825246 # Seafloor depth:-2427.825246 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2493.740510 meters looking forward 0.000000 meters along route # Maximum depth: 2493.740510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2410.632141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119243; longitude = -173.744576; captureRadius = 10; duration = 200; initialDepth = 2467.735071; finalDepth = 2410.632141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1083685571934 # Actual altitude: 83.1083685571934 # Commanded vehicle depth:2410.63214144281 # Seafloor depth:-2493.740510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 332.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.434372 meters # Minimum depth: 2542.735071 meters looking forward 0.000000 meters along route # Maximum depth: 2542.735071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2467.735071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120147; longitude = -173.744306; captureRadius = 10; duration = 200; initialDepth = 2470.782227; finalDepth = 2467.735071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.1083685571934 # Actual altitude: 83.1083685571934 # Commanded vehicle depth:2467.735071 # Seafloor depth:-2542.735071 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 332.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.43; 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 55 # Segment length 100.434372 meters # Minimum depth: 2545.782227 meters looking forward 0.000000 meters along route # Maximum depth: 2545.782227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2470.782227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121081; longitude = -173.744028; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2510.327252; finalDepth = 2470.782227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2470.782227 # Seafloor depth:-2545.782227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 100.434372 meters # Minimum depth: 2585.327252 meters looking forward 0.000000 meters along route # Maximum depth: 2585.327252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.327252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120746; longitude = -173.743253; captureRadius = 10; duration = 200; initialDepth = 2513.496399; finalDepth = 2510.327252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2510.327252 # Seafloor depth:-2585.327252 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 100.434372 meters # Minimum depth: 2588.496399 meters looking forward 0.000000 meters along route # Maximum depth: 2588.496399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2513.496399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120358; longitude = -173.742354; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2478.429297; finalDepth = 2513.496399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2513.496399 # Seafloor depth:-2588.496399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2553.429297 meters looking forward 0.000000 meters along route # Maximum depth: 2553.429297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2478.429297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119514; longitude = -173.742616; captureRadius = 10; duration = 200; initialDepth = 2441.938923; finalDepth = 2478.429297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2478.429297 # Seafloor depth:-2553.429297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2516.938923 meters looking forward 0.000000 meters along route # Maximum depth: 2516.938923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2441.938923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118610; longitude = -173.742897; captureRadius = 10; duration = 200; initialDepth = 2411.045282; finalDepth = 2441.938923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2441.938923 # Seafloor depth:-2516.938923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2486.045282 meters looking forward 0.000000 meters along route # Maximum depth: 2486.045282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2411.045282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117706; longitude = -173.743177; captureRadius = 10; duration = 200; initialDepth = 2381.117099; finalDepth = 2411.045282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2411.045282 # Seafloor depth:-2486.045282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2456.117099 meters looking forward 0.000000 meters along route # Maximum depth: 2456.117099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2381.117099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116802; longitude = -173.743458; captureRadius = 10; duration = 200; initialDepth = 2332.470433; finalDepth = 2381.117099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2381.117099 # Seafloor depth:-2456.117099 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2407.470433 meters looking forward 0.000000 meters along route # Maximum depth: 2407.470433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2332.470433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115898; longitude = -173.743739; captureRadius = 10; duration = 200; initialDepth = 2299.977669; finalDepth = 2332.470433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2332.470433 # Seafloor depth:-2407.470433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2374.977669 meters looking forward 0.000000 meters along route # Maximum depth: 2374.977669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2299.977669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114994; longitude = -173.744020; captureRadius = 10; duration = 200; initialDepth = 2253.088618; finalDepth = 2299.977669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2299.977669 # Seafloor depth:-2374.977669 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2328.088618 meters looking forward 0.000000 meters along route # Maximum depth: 2328.088618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2253.088618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114090; longitude = -173.744300; captureRadius = 10; duration = 200; initialDepth = 2210.341189; finalDepth = 2253.088618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2253.088618 # Seafloor depth:-2328.088618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2285.341189 meters looking forward 0.000000 meters along route # Maximum depth: 2285.341189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2210.341189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113186; longitude = -173.744581; captureRadius = 10; duration = 200; initialDepth = 2150.795716; finalDepth = 2210.341189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2210.341189 # Seafloor depth:-2285.341189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2225.795716 meters looking forward 0.000000 meters along route # Maximum depth: 2225.795716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2150.795716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112282; longitude = -173.744862; captureRadius = 10; duration = 200; initialDepth = 2110.715192; finalDepth = 2150.795716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2150.795716 # Seafloor depth:-2225.795716 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2185.715192 meters looking forward 0.000000 meters along route # Maximum depth: 2185.715192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2110.715192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111378; longitude = -173.745142; captureRadius = 10; duration = 200; initialDepth = 2041.213819; finalDepth = 2110.715192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2110.715192 # Seafloor depth:-2185.715192 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2116.213819 meters looking forward 0.000000 meters along route # Maximum depth: 2116.213819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2041.213819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110474; longitude = -173.745423; captureRadius = 10; duration = 200; initialDepth = 2023.613287; finalDepth = 2041.213819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2041.213819 # Seafloor depth:-2116.213819 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2098.613287 meters looking forward 0.000000 meters along route # Maximum depth: 2098.613287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2023.613287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109570; longitude = -173.745704; captureRadius = 10; duration = 200; initialDepth = 1974.120346; finalDepth = 2023.613287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2023.613287 # Seafloor depth:-2098.613287 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 2049.120346 meters looking forward 0.000000 meters along route # Maximum depth: 2049.120346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1974.120346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108666; longitude = -173.745985; captureRadius = 10; duration = 200; initialDepth = 1914.619823; finalDepth = 1974.120346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1974.120346 # Seafloor depth:-2049.120346 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 1989.619823 meters looking forward 0.000000 meters along route # Maximum depth: 1989.619823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1914.619823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107762; longitude = -173.746265; captureRadius = 10; duration = 200; initialDepth = 1853.036348; finalDepth = 1914.619823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1914.619823 # Seafloor depth:-1989.619823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 1928.036348 meters looking forward 0.000000 meters along route # Maximum depth: 1928.036348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1853.036348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106858; longitude = -173.746546; captureRadius = 10; duration = 200; initialDepth = 1783.150418; finalDepth = 1853.036348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1853.036348 # Seafloor depth:-1928.036348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.434372 meters # Minimum depth: 1858.150418 meters looking forward 0.000000 meters along route # Maximum depth: 1858.150418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1783.150418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105954; longitude = -173.746827; captureRadius = 10; duration = 200; initialDepth = 1724.674652; finalDepth = 1783.150418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1783.150418 # Seafloor depth:-1858.150418 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 100.434372 meters # Minimum depth: 1799.674652 meters looking forward 0.000000 meters along route # Maximum depth: 1799.674652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1724.674652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105080; longitude = -173.747098; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1709.484148; finalDepth = 1724.674652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1724.674652 # Seafloor depth:-1799.674652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1784.484148 meters looking forward 0.000000 meters along route # Maximum depth: 1784.484148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1709.484148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104507; longitude = -173.746292; captureRadius = 10; duration = 200; initialDepth = 1696.539256; finalDepth = 1709.484148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1709.484148 # Seafloor depth:-1784.484148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1771.539256 meters looking forward 0.000000 meters along route # Maximum depth: 1771.539256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1696.539256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103965; longitude = -173.745528; captureRadius = 10; duration = 200; initialDepth = 1693.387880; finalDepth = 1696.539256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1696.539256 # Seafloor depth:-1771.539256 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1768.387880 meters looking forward 0.000000 meters along route # Maximum depth: 1768.387880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1693.387880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103423; longitude = -173.744765; captureRadius = 10; duration = 200; initialDepth = 1701.136995; finalDepth = 1693.387880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1693.38788 # Seafloor depth:-1768.387880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1776.136995 meters looking forward 0.000000 meters along route # Maximum depth: 1776.136995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1701.136995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102877; longitude = -173.743997; captureRadius = 10; duration = 200; initialDepth = 1693.103467; finalDepth = 1701.136995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1701.136995 # Seafloor depth:-1776.136995 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1768.103467 meters looking forward 0.000000 meters along route # Maximum depth: 1768.103467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1693.103467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102338; longitude = -173.743238; captureRadius = 10; duration = 200; initialDepth = 1699.026528; finalDepth = 1693.103467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1693.103467 # Seafloor depth:-1768.103467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1774.026528 meters looking forward 0.000000 meters along route # Maximum depth: 1774.026528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1699.026528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101795; longitude = -173.742474; captureRadius = 10; duration = 200; initialDepth = 1703.721084; finalDepth = 1699.026528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1699.026528 # Seafloor depth:-1774.026528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1778.721084 meters looking forward 0.000000 meters along route # Maximum depth: 1778.721084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1703.721084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101253; longitude = -173.741710; captureRadius = 10; duration = 200; initialDepth = 1717.439902; finalDepth = 1703.721084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1703.721084 # Seafloor depth:-1778.721084 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1792.439902 meters looking forward 0.000000 meters along route # Maximum depth: 1792.439902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1717.439902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100711; longitude = -173.740947; captureRadius = 10; duration = 200; initialDepth = 1712.574805; finalDepth = 1717.439902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1717.439902 # Seafloor depth:-1792.439902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1787.574805 meters looking forward 0.000000 meters along route # Maximum depth: 1787.574805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1712.574805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100168; longitude = -173.740183; captureRadius = 10; duration = 200; initialDepth = 1715.732927; finalDepth = 1712.574805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1712.574805 # Seafloor depth:-1787.574805 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1790.732927 meters looking forward 0.000000 meters along route # Maximum depth: 1790.732927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1715.732927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099626; longitude = -173.739420; captureRadius = 10; duration = 200; initialDepth = 1745.455974; finalDepth = 1715.732927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1715.732927 # Seafloor depth:-1790.732927 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1820.455974 meters looking forward 0.000000 meters along route # Maximum depth: 1820.455974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1745.455974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099083; longitude = -173.738656; captureRadius = 10; duration = 200; initialDepth = 1793.616657; finalDepth = 1745.455974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1745.455974 # Seafloor depth:-1820.455974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1868.616657 meters looking forward 0.000000 meters along route # Maximum depth: 1868.616657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1793.616657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098541; longitude = -173.737892; captureRadius = 10; duration = 200; initialDepth = 1820.307581; finalDepth = 1793.616657; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1793.616657 # Seafloor depth:-1868.616657 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1895.307581 meters looking forward 0.000000 meters along route # Maximum depth: 1895.307581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1820.307581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097998; longitude = -173.737129; captureRadius = 10; duration = 200; initialDepth = 1844.183188; finalDepth = 1820.307581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1820.307581 # Seafloor depth:-1895.307581 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1919.183188 meters looking forward 0.000000 meters along route # Maximum depth: 1919.183188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1844.183188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097456; longitude = -173.736365; captureRadius = 10; duration = 200; initialDepth = 1875.202265; finalDepth = 1844.183188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1844.183188 # Seafloor depth:-1919.183188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1950.202265 meters looking forward 0.000000 meters along route # Maximum depth: 1950.202265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1875.202265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096914; longitude = -173.735602; captureRadius = 10; duration = 200; initialDepth = 1904.084431; finalDepth = 1875.202265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1875.202265 # Seafloor depth:-1950.202265 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 1979.084431 meters looking forward 0.000000 meters along route # Maximum depth: 1979.084431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1904.084431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096371; longitude = -173.734838; captureRadius = 10; duration = 200; initialDepth = 1942.823326; finalDepth = 1904.084431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1904.084431 # Seafloor depth:-1979.084431 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.434372 meters # Minimum depth: 2017.823326 meters looking forward 0.000000 meters along route # Maximum depth: 2017.823326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1942.823326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095807; longitude = -173.734043; captureRadius = 10; duration = 200; initialDepth = 1977.412292; finalDepth = 1942.823326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1942.823326 # Seafloor depth:-2017.823326 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 100.434372 meters # Minimum depth: 2052.412292 meters looking forward 0.000000 meters along route # Maximum depth: 2052.412292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1977.412292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095256; longitude = -173.733268; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1987.161331; finalDepth = 1977.412292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1977.412292 # Seafloor depth:-2052.412292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.434372 meters # Minimum depth: 2062.161331 meters looking forward 0.000000 meters along route # Maximum depth: 2062.161331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1987.161331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093840; longitude = -173.732956; captureRadius = 10; duration = 200; initialDepth = 1965.573443; finalDepth = 1987.161331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1987.161331 # Seafloor depth:-2062.161331 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.434372 meters # Minimum depth: 2040.573443 meters looking forward 0.000000 meters along route # Maximum depth: 2040.573443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1965.573443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092936; longitude = -173.732757; captureRadius = 10; duration = 200; initialDepth = 1939.969979; finalDepth = 1965.573443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1965.573443 # Seafloor depth:-2040.573443 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.434372 meters # Minimum depth: 2014.969979 meters looking forward 0.000000 meters along route # Maximum depth: 2014.969979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1939.969979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092021; longitude = -173.732555; captureRadius = 10; duration = 200; initialDepth = 1923.324883; finalDepth = 1939.969979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1939.969979 # Seafloor depth:-2014.969979 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.434372 meters # Minimum depth: 1998.324883 meters looking forward 0.000000 meters along route # Maximum depth: 1998.324883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1923.324883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091128; longitude = -173.732358; captureRadius = 10; duration = 200; initialDepth = 1906.012115; finalDepth = 1923.324883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1923.324883 # Seafloor depth:-1998.324883 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 100.434372 meters # Minimum depth: 1981.012115 meters looking forward 0.000000 meters along route # Maximum depth: 1981.012115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1906.012115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090194; longitude = -173.732152; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1819.116646; finalDepth = 1906.012115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1906.012115 # Seafloor depth:-1981.012115 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.434372 meters # Minimum depth: 1894.116646 meters looking forward 0.000000 meters along route # Maximum depth: 1894.116646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1819.116646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089136; longitude = -173.732927; captureRadius = 10; duration = 200; initialDepth = 1749.955344; finalDepth = 1819.116646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1819.116646 # Seafloor depth:-1894.116646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.434372 meters # Minimum depth: 1824.955344 meters looking forward 0.000000 meters along route # Maximum depth: 1824.955344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1749.955344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088374; longitude = -173.733485; captureRadius = 10; duration = 200; initialDepth = 1679.221476; finalDepth = 1749.955344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1749.955344 # Seafloor depth:-1824.955344 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.434372 meters # Minimum depth: 1754.221476 meters looking forward 0.000000 meters along route # Maximum depth: 1754.221476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1679.221476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087602; longitude = -173.734050; captureRadius = 10; duration = 200; initialDepth = 1617.669688; finalDepth = 1679.221476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1679.221476 # Seafloor depth:-1754.221476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.434372 meters # Minimum depth: 1692.669688 meters looking forward 0.000000 meters along route # Maximum depth: 1692.669688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1617.669688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086849; longitude = -173.734601; captureRadius = 10; duration = 200; initialDepth = 1578.110308; finalDepth = 1617.669688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1617.669688 # Seafloor depth:-1692.669688 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.434372 meters # Minimum depth: 1653.110308 meters looking forward 0.000000 meters along route # Maximum depth: 1653.110308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1578.110308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086065; longitude = -173.735175; captureRadius = 10; duration = 200; initialDepth = 1619.375977; finalDepth = 1578.110308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1578.110308 # Seafloor depth:-1653.110308 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 100.434372 meters # Minimum depth: 1694.375977 meters looking forward 0.000000 meters along route # Maximum depth: 1694.375977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1619.375977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085282; longitude = -173.735749; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1577.107237; finalDepth = 1619.375977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1619.375977 # Seafloor depth:-1694.375977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 100.434372 meters # Minimum depth: 1652.107237 meters looking forward 0.000000 meters along route # Maximum depth: 1652.107237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1577.107237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086065; longitude = -173.735838; captureRadius = 10; duration = 200; initialDepth = 1562.417364; finalDepth = 1577.107237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1577.107237 # Seafloor depth:-1652.107237 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 100.434372 meters # Minimum depth: 1637.417364 meters looking forward 0.000000 meters along route # Maximum depth: 1637.417364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1562.417364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086969; longitude = -173.735940; captureRadius = 10; duration = 200; initialDepth = 1606.077695; finalDepth = 1562.417364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1562.417364 # Seafloor depth:-1637.417364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 100.434372 meters # Minimum depth: 1681.077695 meters looking forward 0.000000 meters along route # Maximum depth: 1681.077695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1606.077695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087873; longitude = -173.736043; captureRadius = 10; duration = 200; initialDepth = 1664.713623; finalDepth = 1606.077695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1606.077695 # Seafloor depth:-1681.077695 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 100.434372 meters # Minimum depth: 1739.713623 meters looking forward 0.000000 meters along route # Maximum depth: 1739.713623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1664.713623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088838; longitude = -173.736152; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1723.853174; finalDepth = 1664.713623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1664.713623 # Seafloor depth:-1739.713623 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.434372 meters # Minimum depth: 1798.853174 meters looking forward 0.000000 meters along route # Maximum depth: 1798.853174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1723.853174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088557; longitude = -173.734880; captureRadius = 10; duration = 200; initialDepth = 1734.279578; finalDepth = 1723.853174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1723.853174 # Seafloor depth:-1798.853174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.434372 meters # Minimum depth: 1809.279578 meters looking forward 0.000000 meters along route # Maximum depth: 1809.279578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1734.279578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088352; longitude = -173.733950; captureRadius = 10; duration = 200; initialDepth = 1755.115827; finalDepth = 1734.279578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1734.279578 # Seafloor depth:-1809.279578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.434372 meters # Minimum depth: 1830.115827 meters looking forward 0.000000 meters along route # Maximum depth: 1830.115827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1755.115827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088145; longitude = -173.733013; captureRadius = 10; duration = 200; initialDepth = 1789.891724; finalDepth = 1755.115827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1755.115827 # Seafloor depth:-1830.115827 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 100.434372 meters # Minimum depth: 1864.891724 meters looking forward 0.000000 meters along route # Maximum depth: 1864.891724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1789.891724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087934; longitude = -173.732059; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1829.607676; finalDepth = 1789.891724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1789.891724 # Seafloor depth:-1864.891724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.434372 meters # Minimum depth: 1904.607676 meters looking forward 0.000000 meters along route # Maximum depth: 1904.607676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1829.607676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087709; longitude = -173.731066; captureRadius = 10; duration = 200; initialDepth = 1873.526195; finalDepth = 1829.607676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1829.607676 # Seafloor depth:-1904.607676 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.434372 meters # Minimum depth: 1948.526195 meters looking forward 0.000000 meters along route # Maximum depth: 1948.526195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1873.526195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087497; longitude = -173.730136; captureRadius = 10; duration = 200; initialDepth = 1895.601753; finalDepth = 1873.526195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1873.526195 # Seafloor depth:-1948.526195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.434372 meters # Minimum depth: 1970.601753 meters looking forward 0.000000 meters along route # Maximum depth: 1970.601753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1895.601753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087286; longitude = -173.729206; captureRadius = 10; duration = 200; initialDepth = 1935.450006; finalDepth = 1895.601753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1895.601753 # Seafloor depth:-1970.601753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.434372 meters # Minimum depth: 2010.450006 meters looking forward 0.000000 meters along route # Maximum depth: 2010.450006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1935.450006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087075; longitude = -173.728275; captureRadius = 10; duration = 200; initialDepth = 1960.862069; finalDepth = 1935.450006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1935.450006 # Seafloor depth:-2010.450006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.434372 meters # Minimum depth: 2035.862069 meters looking forward 0.000000 meters along route # Maximum depth: 2035.862069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1960.862069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086863; longitude = -173.727345; captureRadius = 10; duration = 200; initialDepth = 1979.364868; finalDepth = 1960.862069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1960.862069 # Seafloor depth:-2035.862069 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 100.434372 meters # Minimum depth: 2054.364868 meters looking forward 0.000000 meters along route # Maximum depth: 2054.364868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1979.364868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086638; longitude = -173.726353; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2006.598728; finalDepth = 1979.364868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1979.364868 # Seafloor depth:-2054.364868 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.434372 meters # Minimum depth: 2081.598728 meters looking forward 0.000000 meters along route # Maximum depth: 2081.598728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2006.598728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086316; longitude = -173.725205; captureRadius = 10; duration = 200; initialDepth = 2038.000146; finalDepth = 2006.598728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2006.598728 # Seafloor depth:-2081.598728 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.434372 meters # Minimum depth: 2113.000146 meters looking forward 0.000000 meters along route # Maximum depth: 2113.000146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2038.000146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086056; longitude = -173.724275; captureRadius = 10; duration = 200; initialDepth = 2064.289081; finalDepth = 2038.000146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2038.000146 # Seafloor depth:-2113.000146 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.434372 meters # Minimum depth: 2139.289081 meters looking forward 0.000000 meters along route # Maximum depth: 2139.289081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2064.289081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085794; longitude = -173.723342; captureRadius = 10; duration = 200; initialDepth = 2088.996805; finalDepth = 2064.289081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2064.289081 # Seafloor depth:-2139.289081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.434372 meters # Minimum depth: 2163.996805 meters looking forward 0.000000 meters along route # Maximum depth: 2163.996805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2088.996805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085534; longitude = -173.722415; captureRadius = 10; duration = 200; initialDepth = 2114.028931; finalDepth = 2088.996805; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2088.996805 # Seafloor depth:-2163.996805 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 100.434372 meters # Minimum depth: 2189.028931 meters looking forward 0.000000 meters along route # Maximum depth: 2189.028931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2114.028931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085282; longitude = -173.721515; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2142.203094; finalDepth = 2114.028931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2114.028931 # Seafloor depth:-2189.028931 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.434372 meters # Minimum depth: 2217.203094 meters looking forward 0.000000 meters along route # Maximum depth: 2217.203094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2142.203094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085163; longitude = -173.720740; captureRadius = 10; duration = 200; initialDepth = 2172.326055; finalDepth = 2142.203094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2142.203094 # Seafloor depth:-2217.203094 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.434372 meters # Minimum depth: 2247.326055 meters looking forward 0.000000 meters along route # Maximum depth: 2247.326055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2172.326055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085021; longitude = -173.719810; captureRadius = 10; duration = 200; initialDepth = 2196.590080; finalDepth = 2172.326055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2172.326055 # Seafloor depth:-2247.326055 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.434372 meters # Minimum depth: 2271.590080 meters looking forward 0.000000 meters along route # Maximum depth: 2271.590080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2196.590080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084879; longitude = -173.718879; captureRadius = 10; duration = 200; initialDepth = 2212.772296; finalDepth = 2196.590080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2196.59008 # Seafloor depth:-2271.590080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.434372 meters # Minimum depth: 2287.772296 meters looking forward 0.000000 meters along route # Maximum depth: 2287.772296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2212.772296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084736; longitude = -173.717949; captureRadius = 10; duration = 200; initialDepth = 2226.203003; finalDepth = 2212.772296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2212.772296 # Seafloor depth:-2287.772296 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 100.434372 meters # Minimum depth: 2301.203003 meters looking forward 0.000000 meters along route # Maximum depth: 2301.203003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2226.203003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084589; longitude = -173.716988; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2247.504546; finalDepth = 2226.203003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2226.203003 # Seafloor depth:-2301.203003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.434372 meters # Minimum depth: 2322.504546 meters looking forward 0.000000 meters along route # Maximum depth: 2322.504546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2247.504546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084513; longitude = -173.716275; captureRadius = 10; duration = 200; initialDepth = 2292.423171; finalDepth = 2247.504546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2247.504546 # Seafloor depth:-2322.504546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.434372 meters # Minimum depth: 2367.423171 meters looking forward 0.000000 meters along route # Maximum depth: 2367.423171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2292.423171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084413; longitude = -173.715344; captureRadius = 10; duration = 200; initialDepth = 2315.999949; finalDepth = 2292.423171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2292.423171 # Seafloor depth:-2367.423171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.434372 meters # Minimum depth: 2390.999949 meters looking forward 0.000000 meters along route # Maximum depth: 2390.999949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2315.999949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084313; longitude = -173.714414; captureRadius = 10; duration = 200; initialDepth = 2326.012386; finalDepth = 2315.999949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2315.999949 # Seafloor depth:-2390.999949 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.434372 meters # Minimum depth: 2401.012386 meters looking forward 0.000000 meters along route # Maximum depth: 2401.012386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2326.012386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084213; longitude = -173.713484; captureRadius = 10; duration = 200; initialDepth = 2350.803284; finalDepth = 2326.012386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2326.012386 # Seafloor depth:-2401.012386 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 100.434372 meters # Minimum depth: 2425.803284 meters looking forward 0.000000 meters along route # Maximum depth: 2425.803284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2350.803284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084107; longitude = -173.712491; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2426.318267; finalDepth = 2350.803284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2350.803284 # Seafloor depth:-2425.803284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.434372 meters # Minimum depth: 2501.318267 meters looking forward 0.000000 meters along route # Maximum depth: 2501.318267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2426.318267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084074; longitude = -173.710879; captureRadius = 10; duration = 200; initialDepth = 2480.409963; finalDepth = 2426.318267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2426.318267 # Seafloor depth:-2501.318267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.434372 meters # Minimum depth: 2555.409963 meters looking forward 0.000000 meters along route # Maximum depth: 2555.409963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2480.409963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084055; longitude = -173.709949; captureRadius = 10; duration = 200; initialDepth = 2531.619842; finalDepth = 2480.409963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2480.409963 # Seafloor depth:-2555.409963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.434372 meters # Minimum depth: 2606.619842 meters looking forward 0.000000 meters along route # Maximum depth: 2606.619842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2531.619842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084036; longitude = -173.709018; captureRadius = 10; duration = 200; initialDepth = 2555.990417; finalDepth = 2531.619842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2531.619842 # Seafloor depth:-2606.619842 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 100.434372 meters # Minimum depth: 2630.990417 meters looking forward 0.000000 meters along route # Maximum depth: 2630.990417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2555.990417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084016; longitude = -173.708026; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2595.143423; finalDepth = 2555.990417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2555.990417 # Seafloor depth:-2630.990417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.434372 meters # Minimum depth: 2670.143423 meters looking forward 0.000000 meters along route # Maximum depth: 2670.143423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2595.143423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083960; longitude = -173.706879; captureRadius = 10; duration = 200; initialDepth = 2600.509798; finalDepth = 2595.143423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2595.143423 # Seafloor depth:-2670.143423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.434372 meters # Minimum depth: 2675.509798 meters looking forward 0.000000 meters along route # Maximum depth: 2675.509798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2600.509798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083914; longitude = -173.705948; captureRadius = 10; duration = 200; initialDepth = 2590.460286; finalDepth = 2600.509798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2600.509798 # Seafloor depth:-2675.509798 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.434372 meters # Minimum depth: 2665.460286 meters looking forward 0.000000 meters along route # Maximum depth: 2665.460286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2590.460286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083868; longitude = -173.705018; captureRadius = 10; duration = 200; initialDepth = 2590.884592; finalDepth = 2590.460286; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2590.460286 # Seafloor depth:-2665.460286 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.434372 meters # Minimum depth: 2665.884592 meters looking forward 0.000000 meters along route # Maximum depth: 2665.884592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2590.884592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083822; longitude = -173.704088; captureRadius = 10; duration = 200; initialDepth = 2586.601624; finalDepth = 2590.884592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2590.884592 # Seafloor depth:-2665.884592 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 100.434372 meters # Minimum depth: 2661.601624 meters looking forward 0.000000 meters along route # Maximum depth: 2661.601624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2586.601624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083775; longitude = -173.703127; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2596.930783; finalDepth = 2586.601624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2586.601624 # Seafloor depth:-2661.601624 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.434372 meters # Minimum depth: 2671.930783 meters looking forward 0.000000 meters along route # Maximum depth: 2671.930783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2596.930783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083506; longitude = -173.702041; captureRadius = 10; duration = 200; initialDepth = 2604.153621; finalDepth = 2596.930783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2596.930783 # Seafloor depth:-2671.930783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.434372 meters # Minimum depth: 2679.153621 meters looking forward 0.000000 meters along route # Maximum depth: 2679.153621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2604.153621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083276; longitude = -173.701111; captureRadius = 10; duration = 200; initialDepth = 2604.933742; finalDepth = 2604.153621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2604.153621 # Seafloor depth:-2679.153621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.434372 meters # Minimum depth: 2679.933742 meters looking forward 0.000000 meters along route # Maximum depth: 2679.933742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2604.933742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083046; longitude = -173.700181; captureRadius = 10; duration = 200; initialDepth = 2606.567041; finalDepth = 2604.933742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2604.933742 # Seafloor depth:-2679.933742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.434372 meters # Minimum depth: 2681.567041 meters looking forward 0.000000 meters along route # Maximum depth: 2681.567041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2606.567041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082811; longitude = -173.699232; captureRadius = 10; duration = 200; initialDepth = 2608.802124; finalDepth = 2606.567041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2606.567041 # Seafloor depth:-2681.567041 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 100.434372 meters # Minimum depth: 2683.802124 meters looking forward 0.000000 meters along route # Maximum depth: 2683.802124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2608.802124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082570; longitude = -173.698258; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2601.716285; finalDepth = 2608.802124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2608.802124 # Seafloor depth:-2683.802124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.434372 meters # Minimum depth: 2676.716285 meters looking forward 0.000000 meters along route # Maximum depth: 2676.716285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2601.716285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082322; longitude = -173.697204; captureRadius = 10; duration = 200; initialDepth = 2584.489305; finalDepth = 2601.716285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2601.716285 # Seafloor depth:-2676.716285 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.434372 meters # Minimum depth: 2659.489305 meters looking forward 0.000000 meters along route # Maximum depth: 2659.489305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2584.489305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082103; longitude = -173.696273; captureRadius = 10; duration = 200; initialDepth = 2567.162781; finalDepth = 2584.489305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2584.489305 # Seafloor depth:-2659.489305 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 100.434372 meters # Minimum depth: 2642.162781 meters looking forward 0.000000 meters along route # Maximum depth: 2642.162781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2567.162781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081877; longitude = -173.695312; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2600.417428; finalDepth = 2567.162781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2567.162781 # Seafloor depth:-2642.162781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.434372 meters # Minimum depth: 2675.417428 meters looking forward 0.000000 meters along route # Maximum depth: 2675.417428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2600.417428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080551; longitude = -173.695660; captureRadius = 10; duration = 200; initialDepth = 2620.242058; finalDepth = 2600.417428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2600.417428 # Seafloor depth:-2675.417428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.434372 meters # Minimum depth: 2695.242058 meters looking forward 0.000000 meters along route # Maximum depth: 2695.242058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2620.242058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079633; longitude = -173.695901; captureRadius = 10; duration = 200; initialDepth = 2622.459804; finalDepth = 2620.242058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2620.242058 # Seafloor depth:-2695.242058 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.434372 meters # Minimum depth: 2697.459804 meters looking forward 0.000000 meters along route # Maximum depth: 2697.459804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2622.459804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078743; longitude = -173.696135; captureRadius = 10; duration = 200; initialDepth = 2621.289119; finalDepth = 2622.459804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2622.459804 # Seafloor depth:-2697.459804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.434372 meters # Minimum depth: 2696.289119 meters looking forward 0.000000 meters along route # Maximum depth: 2696.289119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2621.289119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077839; longitude = -173.696372; captureRadius = 10; duration = 200; initialDepth = 2624.165464; finalDepth = 2621.289119; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2621.289119 # Seafloor depth:-2696.289119 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.434372 meters # Minimum depth: 2699.165464 meters looking forward 0.000000 meters along route # Maximum depth: 2699.165464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2624.165464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076935; longitude = -173.696610; captureRadius = 10; duration = 200; initialDepth = 2623.916748; finalDepth = 2624.165464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2624.165464 # Seafloor depth:-2699.165464 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 100.434372 meters # Minimum depth: 2698.916748 meters looking forward 0.000000 meters along route # Maximum depth: 2698.916748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2623.916748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.075971; longitude = -173.696863; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2620.614230; finalDepth = 2623.916748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2623.916748 # Seafloor depth:-2698.916748 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.434372 meters # Minimum depth: 2695.614230 meters looking forward 0.000000 meters along route # Maximum depth: 2695.614230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2620.614230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076126; longitude = -173.697576; captureRadius = 10; duration = 200; initialDepth = 2621.374635; finalDepth = 2620.614230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2620.61423 # Seafloor depth:-2695.614230 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.434372 meters # Minimum depth: 2696.374635 meters looking forward 0.000000 meters along route # Maximum depth: 2696.374635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2621.374635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076329; longitude = -173.698506; captureRadius = 10; duration = 200; initialDepth = 2618.022051; finalDepth = 2621.374635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2621.374635 # Seafloor depth:-2696.374635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.434372 meters # Minimum depth: 2693.022051 meters looking forward 0.000000 meters along route # Maximum depth: 2693.022051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2618.022051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076532; longitude = -173.699436; captureRadius = 10; duration = 200; initialDepth = 2618.880524; finalDepth = 2618.022051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2618.022051 # Seafloor depth:-2693.022051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.434372 meters # Minimum depth: 2693.880524 meters looking forward 0.000000 meters along route # Maximum depth: 2693.880524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2618.880524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076735; longitude = -173.700367; captureRadius = 10; duration = 200; initialDepth = 2613.019024; finalDepth = 2618.880524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2618.880524 # Seafloor depth:-2693.880524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.434372 meters # Minimum depth: 2688.019024 meters looking forward 0.000000 meters along route # Maximum depth: 2688.019024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2613.019024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.076938; longitude = -173.701297; captureRadius = 10; duration = 200; initialDepth = 2596.637249; finalDepth = 2613.019024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2613.019024 # Seafloor depth:-2688.019024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.434372 meters # Minimum depth: 2671.637249 meters looking forward 0.000000 meters along route # Maximum depth: 2671.637249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2596.637249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077141; longitude = -173.702227; captureRadius = 10; duration = 200; initialDepth = 2585.316589; finalDepth = 2596.637249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2596.637249 # Seafloor depth:-2671.637249 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 100.434372 meters # Minimum depth: 2660.316589 meters looking forward 0.000000 meters along route # Maximum depth: 2660.316589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2585.316589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077357; longitude = -173.703220; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2580.360326; finalDepth = 2585.316589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2585.316589 # Seafloor depth:-2660.316589 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.434372 meters # Minimum depth: 2655.360326 meters looking forward 0.000000 meters along route # Maximum depth: 2655.360326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2580.360326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077368; longitude = -173.704274; captureRadius = 10; duration = 200; initialDepth = 2571.497986; finalDepth = 2580.360326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2580.360326 # Seafloor depth:-2655.360326 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.434372 meters # Minimum depth: 2646.497986 meters looking forward 0.000000 meters along route # Maximum depth: 2646.497986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2571.497986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077378; longitude = -173.705204; captureRadius = 10; duration = 200; initialDepth = 2512.931532; finalDepth = 2571.497986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2571.497986 # Seafloor depth:-2646.497986 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.434372 meters # Minimum depth: 2587.931532 meters looking forward 0.000000 meters along route # Maximum depth: 2587.931532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2512.931532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077387; longitude = -173.706134; captureRadius = 10; duration = 200; initialDepth = 2516.356103; finalDepth = 2512.931532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2512.931532 # Seafloor depth:-2587.931532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.434372 meters # Minimum depth: 2591.356103 meters looking forward 0.000000 meters along route # Maximum depth: 2591.356103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2516.356103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077397; longitude = -173.707065; captureRadius = 10; duration = 200; initialDepth = 2483.801452; finalDepth = 2516.356103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2516.356103 # Seafloor depth:-2591.356103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.434372 meters # Minimum depth: 2558.801452 meters looking forward 0.000000 meters along route # Maximum depth: 2558.801452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2483.801452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077407; longitude = -173.707995; captureRadius = 10; duration = 200; initialDepth = 2447.239136; finalDepth = 2483.801452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2483.801452 # Seafloor depth:-2558.801452 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 100.434372 meters # Minimum depth: 2522.239136 meters looking forward 0.000000 meters along route # Maximum depth: 2522.239136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2447.239136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077417; longitude = -173.708956; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2393.333741; finalDepth = 2447.239136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2447.239136 # Seafloor depth:-2522.239136 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.434372 meters # Minimum depth: 2468.333741 meters looking forward 0.000000 meters along route # Maximum depth: 2468.333741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2393.333741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077406; longitude = -173.710042; captureRadius = 10; duration = 200; initialDepth = 2357.958517; finalDepth = 2393.333741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2393.333741 # Seafloor depth:-2468.333741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.434372 meters # Minimum depth: 2432.958517 meters looking forward 0.000000 meters along route # Maximum depth: 2432.958517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2357.958517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077396; longitude = -173.710972; captureRadius = 10; duration = 200; initialDepth = 2343.615008; finalDepth = 2357.958517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2357.958517 # Seafloor depth:-2432.958517 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.434372 meters # Minimum depth: 2418.615008 meters looking forward 0.000000 meters along route # Maximum depth: 2418.615008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2343.615008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077387; longitude = -173.711902; captureRadius = 10; duration = 200; initialDepth = 2345.568359; finalDepth = 2343.615008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2343.615008 # Seafloor depth:-2418.615008 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.434372 meters # Minimum depth: 2420.568359 meters looking forward 0.000000 meters along route # Maximum depth: 2420.568359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2345.568359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077377; longitude = -173.712833; captureRadius = 10; duration = 200; initialDepth = 2332.678650; finalDepth = 2345.568359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2345.568359 # Seafloor depth:-2420.568359 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.434372 meters # Minimum depth: 2407.678650 meters looking forward 0.000000 meters along route # Maximum depth: 2407.678650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2332.678650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077367; longitude = -173.713763; captureRadius = 10; duration = 200; initialDepth = 2317.804565; finalDepth = 2332.678650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2332.67865 # Seafloor depth:-2407.678650 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 100.434372 meters # Minimum depth: 2392.804565 meters looking forward 0.000000 meters along route # Maximum depth: 2392.804565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2317.804565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077357; longitude = -173.714755; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2300.261564; finalDepth = 2317.804565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2317.804565 # Seafloor depth:-2392.804565 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.434372 meters # Minimum depth: 2375.261564 meters looking forward 0.000000 meters along route # Maximum depth: 2375.261564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2300.261564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077414; longitude = -173.715623; captureRadius = 10; duration = 200; initialDepth = 2284.394096; finalDepth = 2300.261564; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2300.261564 # Seafloor depth:-2375.261564 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.434372 meters # Minimum depth: 2359.394096 meters looking forward 0.000000 meters along route # Maximum depth: 2359.394096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2284.394096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077474; longitude = -173.716554; captureRadius = 10; duration = 200; initialDepth = 2242.331236; finalDepth = 2284.394096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2284.394096 # Seafloor depth:-2359.394096 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.434372 meters # Minimum depth: 2317.331236 meters looking forward 0.000000 meters along route # Maximum depth: 2317.331236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2242.331236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077535; longitude = -173.717484; captureRadius = 10; duration = 200; initialDepth = 2244.378174; finalDepth = 2242.331236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2242.331236 # Seafloor depth:-2317.331236 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 100.434372 meters # Minimum depth: 2319.378174 meters looking forward 0.000000 meters along route # Maximum depth: 2319.378174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2244.378174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077598; longitude = -173.718445; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2210.143424; finalDepth = 2244.378174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2244.378174 # Seafloor depth:-2319.378174 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.434372 meters # Minimum depth: 2285.143424 meters looking forward 0.000000 meters along route # Maximum depth: 2285.143424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2210.143424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077699; longitude = -173.719438; captureRadius = 10; duration = 200; initialDepth = 2165.332495; finalDepth = 2210.143424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2210.143424 # Seafloor depth:-2285.143424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.434372 meters # Minimum depth: 2240.332495 meters looking forward 0.000000 meters along route # Maximum depth: 2240.332495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2165.332495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077794; longitude = -173.720368; captureRadius = 10; duration = 200; initialDepth = 2150.847819; finalDepth = 2165.332495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2165.332495 # Seafloor depth:-2240.332495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.434372 meters # Minimum depth: 2225.847819 meters looking forward 0.000000 meters along route # Maximum depth: 2225.847819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2150.847819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077889; longitude = -173.721298; captureRadius = 10; duration = 200; initialDepth = 2119.007629; finalDepth = 2150.847819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2150.847819 # Seafloor depth:-2225.847819 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 100.434372 meters # Minimum depth: 2194.007629 meters looking forward 0.000000 meters along route # Maximum depth: 2194.007629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2119.007629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077990; longitude = -173.722291; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2103.743592; finalDepth = 2119.007629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2119.007629 # Seafloor depth:-2194.007629 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.434372 meters # Minimum depth: 2178.743592 meters looking forward 0.000000 meters along route # Maximum depth: 2178.743592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2103.743592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078309; longitude = -173.723903; captureRadius = 10; duration = 200; initialDepth = 2092.514659; finalDepth = 2103.743592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2103.743592 # Seafloor depth:-2178.743592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.434372 meters # Minimum depth: 2167.514659 meters looking forward 0.000000 meters along route # Maximum depth: 2167.514659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2092.514659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078493; longitude = -173.724833; captureRadius = 10; duration = 200; initialDepth = 2075.272888; finalDepth = 2092.514659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2092.514659 # Seafloor depth:-2167.514659 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 100.434372 meters # Minimum depth: 2150.272888 meters looking forward 0.000000 meters along route # Maximum depth: 2150.272888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2075.272888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078683; longitude = -173.725795; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2076.366480; finalDepth = 2075.272888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2075.272888 # Seafloor depth:-2150.272888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.434372 meters # Minimum depth: 2151.366480 meters looking forward 0.000000 meters along route # Maximum depth: 2151.366480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2076.366480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078903; longitude = -173.726973; captureRadius = 10; duration = 200; initialDepth = 2040.353737; finalDepth = 2076.366480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2076.36648 # Seafloor depth:-2151.366480 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.434372 meters # Minimum depth: 2115.353737 meters looking forward 0.000000 meters along route # Maximum depth: 2115.353737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2040.353737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079077; longitude = -173.727903; captureRadius = 10; duration = 200; initialDepth = 2052.957598; finalDepth = 2040.353737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2040.353737 # Seafloor depth:-2115.353737 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.434372 meters # Minimum depth: 2127.957598 meters looking forward 0.000000 meters along route # Maximum depth: 2127.957598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2052.957598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079251; longitude = -173.728834; captureRadius = 10; duration = 200; initialDepth = 2039.892700; finalDepth = 2052.957598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2052.957598 # Seafloor depth:-2127.957598 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 100.434372 meters # Minimum depth: 2114.892700 meters looking forward 0.000000 meters along route # Maximum depth: 2114.892700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2039.892700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079436; longitude = -173.729826; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2006.342763; finalDepth = 2039.892700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2039.8927 # Seafloor depth:-2114.892700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.434372 meters # Minimum depth: 2081.342763 meters looking forward 0.000000 meters along route # Maximum depth: 2081.342763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2006.342763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079753; longitude = -173.730601; captureRadius = 10; duration = 200; initialDepth = 1953.256247; finalDepth = 2006.342763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2006.342763 # Seafloor depth:-2081.342763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.434372 meters # Minimum depth: 2028.256247 meters looking forward 0.000000 meters along route # Maximum depth: 2028.256247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1953.256247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080134; longitude = -173.731531; captureRadius = 10; duration = 200; initialDepth = 1930.009847; finalDepth = 1953.256247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1953.256247 # Seafloor depth:-2028.256247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.434372 meters # Minimum depth: 2005.009847 meters looking forward 0.000000 meters along route # Maximum depth: 2005.009847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1930.009847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080514; longitude = -173.732462; captureRadius = 10; duration = 200; initialDepth = 1913.917145; finalDepth = 1930.009847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1930.009847 # Seafloor depth:-2005.009847 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 100.434372 meters # Minimum depth: 1988.917145 meters looking forward 0.000000 meters along route # Maximum depth: 1988.917145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1913.917145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080882; longitude = -173.733361; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1884.324690; finalDepth = 1913.917145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1913.917145 # Seafloor depth:-1988.917145 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.434372 meters # Minimum depth: 1959.324690 meters looking forward 0.000000 meters along route # Maximum depth: 1959.324690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1884.324690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081564; longitude = -173.734694; captureRadius = 10; duration = 200; initialDepth = 1866.049039; finalDepth = 1884.324690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1884.32469 # Seafloor depth:-1959.324690 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.434372 meters # Minimum depth: 1941.049039 meters looking forward 0.000000 meters along route # Maximum depth: 1941.049039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1866.049039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081997; longitude = -173.735541; captureRadius = 10; duration = 200; initialDepth = 1850.802818; finalDepth = 1866.049039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1866.049039 # Seafloor depth:-1941.049039 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.434372 meters # Minimum depth: 1925.802818 meters looking forward 0.000000 meters along route # Maximum depth: 1925.802818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1850.802818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082421; longitude = -173.736369; captureRadius = 10; duration = 200; initialDepth = 1824.964741; finalDepth = 1850.802818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1850.802818 # Seafloor depth:-1925.802818 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.434372 meters # Minimum depth: 1899.964741 meters looking forward 0.000000 meters along route # Maximum depth: 1899.964741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1824.964741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082849; longitude = -173.737206; captureRadius = 10; duration = 200; initialDepth = 1782.854645; finalDepth = 1824.964741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1824.964741 # Seafloor depth:-1899.964741 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 100.434372 meters # Minimum depth: 1857.854645 meters looking forward 0.000000 meters along route # Maximum depth: 1857.854645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1782.854645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083293; longitude = -173.738074; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1707.809601; finalDepth = 1782.854645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1782.854645 # Seafloor depth:-1857.854645 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 100.434372 meters # Minimum depth: 1782.809601 meters looking forward 0.000000 meters along route # Maximum depth: 1782.809601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1707.809601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084408; longitude = -173.736896; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1723.561514; finalDepth = 1707.809601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1707.809601 # Seafloor depth:-1782.809601 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.434372 meters # Minimum depth: 1798.561514 meters looking forward 0.000000 meters along route # Maximum depth: 1798.561514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1723.561514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083949; longitude = -173.735997; captureRadius = 10; duration = 200; initialDepth = 1757.218520; finalDepth = 1723.561514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1723.561514 # Seafloor depth:-1798.561514 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.434372 meters # Minimum depth: 1832.218520 meters looking forward 0.000000 meters along route # Maximum depth: 1832.218520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1757.218520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083522; longitude = -173.735160; captureRadius = 10; duration = 200; initialDepth = 1761.382292; finalDepth = 1757.218520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1757.21852 # Seafloor depth:-1832.218520 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.434372 meters # Minimum depth: 1836.382292 meters looking forward 0.000000 meters along route # Maximum depth: 1836.382292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1761.382292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083082; longitude = -173.734299; captureRadius = 10; duration = 200; initialDepth = 1790.425342; finalDepth = 1761.382292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1761.382292 # Seafloor depth:-1836.382292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.434372 meters # Minimum depth: 1865.425342 meters looking forward 0.000000 meters along route # Maximum depth: 1865.425342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1790.425342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082630; longitude = -173.733413; captureRadius = 10; duration = 200; initialDepth = 1812.039948; finalDepth = 1790.425342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1790.425342 # Seafloor depth:-1865.425342 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 100.434372 meters # Minimum depth: 1887.039948 meters looking forward 0.000000 meters along route # Maximum depth: 1887.039948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1812.039948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082208; longitude = -173.732586; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1870.002977; finalDepth = 1812.039948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1812.039948 # Seafloor depth:-1887.039948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.434372 meters # Minimum depth: 1945.002977 meters looking forward 0.000000 meters along route # Maximum depth: 1945.002977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1870.002977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081593; longitude = -173.731066; captureRadius = 10; duration = 200; initialDepth = 1922.720733; finalDepth = 1870.002977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1870.002977 # Seafloor depth:-1945.002977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.434372 meters # Minimum depth: 1997.720733 meters looking forward 0.000000 meters along route # Maximum depth: 1997.720733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1922.720733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081216; longitude = -173.730136; captureRadius = 10; duration = 200; initialDepth = 1935.205963; finalDepth = 1922.720733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1922.720733 # Seafloor depth:-1997.720733 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 100.434372 meters # Minimum depth: 2010.205963 meters looking forward 0.000000 meters along route # Maximum depth: 2010.205963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1935.205963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080852; longitude = -173.729237; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1937.241282; finalDepth = 1935.205963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1935.205963 # Seafloor depth:-2010.205963 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.434372 meters # Minimum depth: 2012.241282 meters looking forward 0.000000 meters along route # Maximum depth: 2012.241282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1937.241282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080662; longitude = -173.728368; captureRadius = 10; duration = 200; initialDepth = 1940.919291; finalDepth = 1937.241282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1937.241282 # Seafloor depth:-2012.241282 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.434372 meters # Minimum depth: 2015.919291 meters looking forward 0.000000 meters along route # Maximum depth: 2015.919291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1940.919291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080459; longitude = -173.727438; captureRadius = 10; duration = 200; initialDepth = 1975.851341; finalDepth = 1940.919291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1940.919291 # Seafloor depth:-2015.919291 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.434372 meters # Minimum depth: 2050.851341 meters looking forward 0.000000 meters along route # Maximum depth: 2050.851341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1975.851341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080256; longitude = -173.726508; captureRadius = 10; duration = 200; initialDepth = 1972.600037; finalDepth = 1975.851341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1975.851341 # Seafloor depth:-2050.851341 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 100.434372 meters # Minimum depth: 2047.600037 meters looking forward 0.000000 meters along route # Maximum depth: 2047.600037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1972.600037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080039; longitude = -173.725516; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1983.376954; finalDepth = 1972.600037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1972.600037 # Seafloor depth:-2047.600037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.434372 meters # Minimum depth: 2058.376954 meters looking forward 0.000000 meters along route # Maximum depth: 2058.376954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1983.376954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079904; longitude = -173.724740; captureRadius = 10; duration = 200; initialDepth = 1996.534559; finalDepth = 1983.376954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1983.376954 # Seafloor depth:-2058.376954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.434372 meters # Minimum depth: 2071.534559 meters looking forward 0.000000 meters along route # Maximum depth: 2071.534559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1996.534559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079741; longitude = -173.723810; captureRadius = 10; duration = 200; initialDepth = 2014.489666; finalDepth = 1996.534559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1996.534559 # Seafloor depth:-2071.534559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.434372 meters # Minimum depth: 2089.489666 meters looking forward 0.000000 meters along route # Maximum depth: 2089.489666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2014.489666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079579; longitude = -173.722880; captureRadius = 10; duration = 200; initialDepth = 2054.532532; finalDepth = 2014.489666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2014.489666 # Seafloor depth:-2089.489666 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 100.434372 meters # Minimum depth: 2129.532532 meters looking forward 0.000000 meters along route # Maximum depth: 2129.532532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2054.532532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079406; longitude = -173.721887; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2060.413531; finalDepth = 2054.532532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2054.532532 # Seafloor depth:-2129.532532 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.434372 meters # Minimum depth: 2135.413531 meters looking forward 0.000000 meters along route # Maximum depth: 2135.413531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2060.413531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079292; longitude = -173.720926; captureRadius = 10; duration = 200; initialDepth = 2080.688776; finalDepth = 2060.413531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2060.413531 # Seafloor depth:-2135.413531 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.434372 meters # Minimum depth: 2155.688776 meters looking forward 0.000000 meters along route # Maximum depth: 2155.688776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2080.688776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079182; longitude = -173.719996; captureRadius = 10; duration = 200; initialDepth = 2111.866340; finalDepth = 2080.688776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2080.688776 # Seafloor depth:-2155.688776 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.434372 meters # Minimum depth: 2186.866340 meters looking forward 0.000000 meters along route # Maximum depth: 2186.866340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2111.866340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079072; longitude = -173.719065; captureRadius = 10; duration = 200; initialDepth = 2152.696472; finalDepth = 2111.866340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2111.86634 # Seafloor depth:-2186.866340 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 100.434372 meters # Minimum depth: 2227.696472 meters looking forward 0.000000 meters along route # Maximum depth: 2227.696472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2152.696472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078954; longitude = -173.718073; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2167.855756; finalDepth = 2152.696472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2152.696472 # Seafloor depth:-2227.696472 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.434372 meters # Minimum depth: 2242.855756 meters looking forward 0.000000 meters along route # Maximum depth: 2242.855756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2167.855756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078874; longitude = -173.716554; captureRadius = 10; duration = 200; initialDepth = 2184.694222; finalDepth = 2167.855756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2167.855756 # Seafloor depth:-2242.855756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.434372 meters # Minimum depth: 2259.694222 meters looking forward 0.000000 meters along route # Maximum depth: 2259.694222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2184.694222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078825; longitude = -173.715623; captureRadius = 10; duration = 200; initialDepth = 2222.225342; finalDepth = 2184.694222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2184.694222 # Seafloor depth:-2259.694222 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 100.434372 meters # Minimum depth: 2297.225342 meters looking forward 0.000000 meters along route # Maximum depth: 2297.225342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2222.225342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078773; longitude = -173.714631; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2240.635419; finalDepth = 2222.225342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2222.225342 # Seafloor depth:-2297.225342 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.434372 meters # Minimum depth: 2315.635419 meters looking forward 0.000000 meters along route # Maximum depth: 2315.635419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2240.635419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078779; longitude = -173.713391; captureRadius = 10; duration = 200; initialDepth = 2238.556504; finalDepth = 2240.635419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2240.635419 # Seafloor depth:-2315.635419 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.434372 meters # Minimum depth: 2313.556504 meters looking forward 0.000000 meters along route # Maximum depth: 2313.556504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2238.556504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078784; longitude = -173.712460; captureRadius = 10; duration = 200; initialDepth = 2270.669897; finalDepth = 2238.556504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2238.556504 # Seafloor depth:-2313.556504 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.434372 meters # Minimum depth: 2345.669897 meters looking forward 0.000000 meters along route # Maximum depth: 2345.669897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2270.669897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078789; longitude = -173.711530; captureRadius = 10; duration = 200; initialDepth = 2314.501635; finalDepth = 2270.669897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2270.669897 # Seafloor depth:-2345.669897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.434372 meters # Minimum depth: 2389.501635 meters looking forward 0.000000 meters along route # Maximum depth: 2389.501635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2314.501635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078793; longitude = -173.710600; captureRadius = 10; duration = 200; initialDepth = 2366.718820; finalDepth = 2314.501635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2314.501635 # Seafloor depth:-2389.501635 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.434372 meters # Minimum depth: 2441.718820 meters looking forward 0.000000 meters along route # Maximum depth: 2441.718820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2366.718820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078798; longitude = -173.709670; captureRadius = 10; duration = 200; initialDepth = 2416.177734; finalDepth = 2366.718820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2366.71882 # Seafloor depth:-2441.718820 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 100.434372 meters # Minimum depth: 2491.177734 meters looking forward 0.000000 meters along route # Maximum depth: 2491.177734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2416.177734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078803; longitude = -173.708708; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2454.774468; finalDepth = 2416.177734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2416.177734 # Seafloor depth:-2491.177734 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.434372 meters # Minimum depth: 2529.774468 meters looking forward 0.000000 meters along route # Maximum depth: 2529.774468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2454.774468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078797; longitude = -173.707623; captureRadius = 10; duration = 200; initialDepth = 2482.243611; finalDepth = 2454.774468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2454.774468 # Seafloor depth:-2529.774468 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.434372 meters # Minimum depth: 2557.243611 meters looking forward 0.000000 meters along route # Maximum depth: 2557.243611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2482.243611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078793; longitude = -173.706693; captureRadius = 10; duration = 200; initialDepth = 2502.838005; finalDepth = 2482.243611; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2482.243611 # Seafloor depth:-2557.243611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.434372 meters # Minimum depth: 2577.838005 meters looking forward 0.000000 meters along route # Maximum depth: 2577.838005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.838005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078788; longitude = -173.705762; captureRadius = 10; duration = 200; initialDepth = 2539.407916; finalDepth = 2502.838005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2502.838005 # Seafloor depth:-2577.838005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.434372 meters # Minimum depth: 2614.407916 meters looking forward 0.000000 meters along route # Maximum depth: 2614.407916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2539.407916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078783; longitude = -173.704832; captureRadius = 10; duration = 200; initialDepth = 2542.384542; finalDepth = 2539.407916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2539.407916 # Seafloor depth:-2614.407916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.434372 meters # Minimum depth: 2617.384542 meters looking forward 0.000000 meters along route # Maximum depth: 2617.384542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2542.384542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078778; longitude = -173.703902; captureRadius = 10; duration = 200; initialDepth = 2553.372620; finalDepth = 2542.384542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2542.384542 # Seafloor depth:-2617.384542 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 100.434372 meters # Minimum depth: 2628.372620 meters looking forward 0.000000 meters along route # Maximum depth: 2628.372620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2553.372620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078773; longitude = -173.702909; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2594.715092; finalDepth = 2553.372620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2553.37262 # Seafloor depth:-2628.372620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.434372 meters # Minimum depth: 2669.715092 meters looking forward 0.000000 meters along route # Maximum depth: 2669.715092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2594.715092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078571; longitude = -173.702041; captureRadius = 10; duration = 200; initialDepth = 2594.810499; finalDepth = 2594.715092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2594.715092 # Seafloor depth:-2669.715092 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.434372 meters # Minimum depth: 2669.810499 meters looking forward 0.000000 meters along route # Maximum depth: 2669.810499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2594.810499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078354; longitude = -173.701111; captureRadius = 10; duration = 200; initialDepth = 2614.936724; finalDepth = 2594.810499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2594.810499 # Seafloor depth:-2669.810499 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.434372 meters # Minimum depth: 2689.936724 meters looking forward 0.000000 meters along route # Maximum depth: 2689.936724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2614.936724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.078137; longitude = -173.700181; captureRadius = 10; duration = 200; initialDepth = 2619.844015; finalDepth = 2614.936724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2614.936724 # Seafloor depth:-2689.936724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.434372 meters # Minimum depth: 2694.844015 meters looking forward 0.000000 meters along route # Maximum depth: 2694.844015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2619.844015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077919; longitude = -173.699250; captureRadius = 10; duration = 200; initialDepth = 2620.616089; finalDepth = 2619.844015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2619.844015 # Seafloor depth:-2694.844015 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 100.434372 meters # Minimum depth: 2695.616089 meters looking forward 0.000000 meters along route # Maximum depth: 2695.616089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2620.616089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.077688; longitude = -173.698258; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2621.758760; finalDepth = 2620.616089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2620.616089 # Seafloor depth:-2695.616089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.434372 meters # Minimum depth: 2696.758760 meters looking forward 0.000000 meters along route # Maximum depth: 2696.758760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2621.758760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.079195; longitude = -173.697888; captureRadius = 10; duration = 200; initialDepth = 2622.149191; finalDepth = 2621.758760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2621.75876 # Seafloor depth:-2696.758760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.434372 meters # Minimum depth: 2697.149191 meters looking forward 0.000000 meters along route # Maximum depth: 2697.149191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2622.149191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080089; longitude = -173.697669; captureRadius = 10; duration = 200; initialDepth = 2618.371338; finalDepth = 2622.149191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2622.149191 # Seafloor depth:-2697.149191 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 100.434372 meters # Minimum depth: 2693.371338 meters looking forward 0.000000 meters along route # Maximum depth: 2693.371338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2618.371338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.080973; longitude = -173.697452; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2611.991943; finalDepth = 2618.371338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2618.371338 # Seafloor depth:-2693.371338 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 100.434372 meters # Minimum depth: 2686.991943 meters looking forward 0.000000 meters along route # Maximum depth: 2686.991943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2611.991943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081334; longitude = -173.698940; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2612.677381; finalDepth = 2611.991943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2611.991943 # Seafloor depth:-2686.991943 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.434372 meters # Minimum depth: 2687.677381 meters looking forward 0.000000 meters along route # Maximum depth: 2687.677381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2612.677381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081500; longitude = -173.699622; captureRadius = 10; duration = 200; initialDepth = 2606.872618; finalDepth = 2612.677381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2612.677381 # Seafloor depth:-2687.677381 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.434372 meters # Minimum depth: 2681.872618 meters looking forward 0.000000 meters along route # Maximum depth: 2681.872618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2606.872618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081726; longitude = -173.700554; captureRadius = 10; duration = 200; initialDepth = 2585.071103; finalDepth = 2606.872618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2606.872618 # Seafloor depth:-2681.872618 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.434372 meters # Minimum depth: 2660.071103 meters looking forward 0.000000 meters along route # Maximum depth: 2660.071103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2585.071103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.081952; longitude = -173.701483; captureRadius = 10; duration = 200; initialDepth = 2582.606200; finalDepth = 2585.071103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2585.071103 # Seafloor depth:-2660.071103 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.434372 meters # Minimum depth: 2657.606200 meters looking forward 0.000000 meters along route # Maximum depth: 2657.606200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2582.606200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082178; longitude = -173.702415; captureRadius = 10; duration = 200; initialDepth = 2593.446594; finalDepth = 2582.606200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2582.6062 # Seafloor depth:-2657.606200 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 100.434372 meters # Minimum depth: 2668.446594 meters looking forward 0.000000 meters along route # Maximum depth: 2668.446594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2593.446594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082419; longitude = -173.703406; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2556.829920; finalDepth = 2593.446594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2593.446594 # Seafloor depth:-2668.446594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.434372 meters # Minimum depth: 2631.829920 meters looking forward 0.000000 meters along route # Maximum depth: 2631.829920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2556.829920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082450; longitude = -173.704367; captureRadius = 10; duration = 200; initialDepth = 2533.537784; finalDepth = 2556.829920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2556.82992 # Seafloor depth:-2631.829920 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.434372 meters # Minimum depth: 2608.537784 meters looking forward 0.000000 meters along route # Maximum depth: 2608.537784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2533.537784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082480; longitude = -173.705297; captureRadius = 10; duration = 200; initialDepth = 2550.521917; finalDepth = 2533.537784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2533.537784 # Seafloor depth:-2608.537784 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.434372 meters # Minimum depth: 2625.521917 meters looking forward 0.000000 meters along route # Maximum depth: 2625.521917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2550.521917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082509; longitude = -173.706228; captureRadius = 10; duration = 200; initialDepth = 2511.379099; finalDepth = 2550.521917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2550.521917 # Seafloor depth:-2625.521917 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.434372 meters # Minimum depth: 2586.379099 meters looking forward 0.000000 meters along route # Maximum depth: 2586.379099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.379099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082540; longitude = -173.707174; captureRadius = 10; duration = 200; initialDepth = 2472.013184; finalDepth = 2511.379099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2511.379099 # Seafloor depth:-2586.379099 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 100.434372 meters # Minimum depth: 2547.013184 meters looking forward 0.000000 meters along route # Maximum depth: 2547.013184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2472.013184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082570; longitude = -173.708119; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2434.864854; finalDepth = 2472.013184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2472.013184 # Seafloor depth:-2547.013184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.434372 meters # Minimum depth: 2509.864854 meters looking forward 0.000000 meters along route # Maximum depth: 2509.864854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2434.864854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082603; longitude = -173.708832; captureRadius = 10; duration = 200; initialDepth = 2413.189654; finalDepth = 2434.864854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2434.864854 # Seafloor depth:-2509.864854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.434372 meters # Minimum depth: 2488.189654 meters looking forward 0.000000 meters along route # Maximum depth: 2488.189654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2413.189654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082647; longitude = -173.709763; captureRadius = 10; duration = 200; initialDepth = 2376.443909; finalDepth = 2413.189654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2413.189654 # Seafloor depth:-2488.189654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.434372 meters # Minimum depth: 2451.443909 meters looking forward 0.000000 meters along route # Maximum depth: 2451.443909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2376.443909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082691; longitude = -173.710693; captureRadius = 10; duration = 200; initialDepth = 2329.455645; finalDepth = 2376.443909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2376.443909 # Seafloor depth:-2451.443909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.434372 meters # Minimum depth: 2404.455645 meters looking forward 0.000000 meters along route # Maximum depth: 2404.455645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2329.455645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082734; longitude = -173.711623; captureRadius = 10; duration = 200; initialDepth = 2274.263855; finalDepth = 2329.455645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2329.455645 # Seafloor depth:-2404.455645 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 100.434372 meters # Minimum depth: 2349.263855 meters looking forward 0.000000 meters along route # Maximum depth: 2349.263855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2274.263855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082781; longitude = -173.712615; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2212.698379; finalDepth = 2274.263855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2274.263855 # Seafloor depth:-2349.263855 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.434372 meters # Minimum depth: 2287.698379 meters looking forward 0.000000 meters along route # Maximum depth: 2287.698379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2212.698379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082870; longitude = -173.713856; captureRadius = 10; duration = 200; initialDepth = 2209.884723; finalDepth = 2212.698379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2212.698379 # Seafloor depth:-2287.698379 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.434372 meters # Minimum depth: 2284.884723 meters looking forward 0.000000 meters along route # Maximum depth: 2284.884723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2209.884723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.082937; longitude = -173.714786; captureRadius = 10; duration = 200; initialDepth = 2191.338645; finalDepth = 2209.884723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2209.884723 # Seafloor depth:-2284.884723 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.434372 meters # Minimum depth: 2266.338645 meters looking forward 0.000000 meters along route # Maximum depth: 2266.338645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2191.338645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083004; longitude = -173.715716; captureRadius = 10; duration = 200; initialDepth = 2152.430496; finalDepth = 2191.338645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2191.338645 # Seafloor depth:-2266.338645 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.434372 meters # Minimum depth: 2227.430496 meters looking forward 0.000000 meters along route # Maximum depth: 2227.430496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2152.430496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083071; longitude = -173.716647; captureRadius = 10; duration = 200; initialDepth = 2125.182373; finalDepth = 2152.430496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2152.430496 # Seafloor depth:-2227.430496 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 100.434372 meters # Minimum depth: 2200.182373 meters looking forward 0.000000 meters along route # Maximum depth: 2200.182373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2125.182373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083142; longitude = -173.717639; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 2115.712362; finalDepth = 2125.182373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2125.182373 # Seafloor depth:-2200.182373 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.434372 meters # Minimum depth: 2190.712362 meters looking forward 0.000000 meters along route # Maximum depth: 2190.712362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2115.712362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083328; longitude = -173.718507; captureRadius = 10; duration = 200; initialDepth = 2094.954502; finalDepth = 2115.712362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2115.712362 # Seafloor depth:-2190.712362 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.434372 meters # Minimum depth: 2169.954502 meters looking forward 0.000000 meters along route # Maximum depth: 2169.954502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2094.954502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083527; longitude = -173.719438; captureRadius = 10; duration = 200; initialDepth = 2079.154321; finalDepth = 2094.954502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2094.954502 # Seafloor depth:-2169.954502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.434372 meters # Minimum depth: 2154.154321 meters looking forward 0.000000 meters along route # Maximum depth: 2154.154321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2079.154321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083726; longitude = -173.720368; captureRadius = 10; duration = 200; initialDepth = 2049.303402; finalDepth = 2079.154321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2079.154321 # Seafloor depth:-2154.154321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.434372 meters # Minimum depth: 2124.303402 meters looking forward 0.000000 meters along route # Maximum depth: 2124.303402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2049.303402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.083925; longitude = -173.721298; captureRadius = 10; duration = 200; initialDepth = 2020.049133; finalDepth = 2049.303402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2049.303402 # Seafloor depth:-2124.303402 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 100.434372 meters # Minimum depth: 2095.049133 meters looking forward 0.000000 meters along route # Maximum depth: 2095.049133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2020.049133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084137; longitude = -173.722291; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1986.135878; finalDepth = 2020.049133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2020.049133 # Seafloor depth:-2095.049133 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.434372 meters # Minimum depth: 2061.135878 meters looking forward 0.000000 meters along route # Maximum depth: 2061.135878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1986.135878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084443; longitude = -173.723624; captureRadius = 10; duration = 200; initialDepth = 1959.779369; finalDepth = 1986.135878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1986.135878 # Seafloor depth:-2061.135878 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.434372 meters # Minimum depth: 2034.779369 meters looking forward 0.000000 meters along route # Maximum depth: 2034.779369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1959.779369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084657; longitude = -173.724554; captureRadius = 10; duration = 200; initialDepth = 1923.971897; finalDepth = 1959.779369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1959.779369 # Seafloor depth:-2034.779369 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.434372 meters # Minimum depth: 1998.971897 meters looking forward 0.000000 meters along route # Maximum depth: 1998.971897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1923.971897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.084870; longitude = -173.725484; captureRadius = 10; duration = 200; initialDepth = 1891.916430; finalDepth = 1923.971897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1923.971897 # Seafloor depth:-1998.971897 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.434372 meters # Minimum depth: 1966.916430 meters looking forward 0.000000 meters along route # Maximum depth: 1966.916430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1891.916430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085084; longitude = -173.726415; captureRadius = 10; duration = 200; initialDepth = 1864.947266; finalDepth = 1891.916430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1891.91643 # Seafloor depth:-1966.916430 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 100.434372 meters # Minimum depth: 1939.947266 meters looking forward 0.000000 meters along route # Maximum depth: 1939.947266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1864.947266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085312; longitude = -173.727407; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1852.992245; finalDepth = 1864.947266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1864.947266 # Seafloor depth:-1939.947266 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.434372 meters # Minimum depth: 1927.992245 meters looking forward 0.000000 meters along route # Maximum depth: 1927.992245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1852.992245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085533; longitude = -173.728182; captureRadius = 10; duration = 200; initialDepth = 1832.568416; finalDepth = 1852.992245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1852.992245 # Seafloor depth:-1927.992245 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.434372 meters # Minimum depth: 1907.568416 meters looking forward 0.000000 meters along route # Maximum depth: 1907.568416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1832.568416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.085798; longitude = -173.729113; captureRadius = 10; duration = 200; initialDepth = 1792.452292; finalDepth = 1832.568416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1832.568416 # Seafloor depth:-1907.568416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.434372 meters # Minimum depth: 1867.452292 meters looking forward 0.000000 meters along route # Maximum depth: 1867.452292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1792.452292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086065; longitude = -173.730052; captureRadius = 10; duration = 200; initialDepth = 1752.202089; finalDepth = 1792.452292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1792.452292 # Seafloor depth:-1867.452292 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.434372 meters # Minimum depth: 1827.202089 meters looking forward 0.000000 meters along route # Maximum depth: 1827.202089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1752.202089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086337; longitude = -173.731004; captureRadius = 10; duration = 200; initialDepth = 1737.055594; finalDepth = 1752.202089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1752.202089 # Seafloor depth:-1827.202089 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.434372 meters # Minimum depth: 1812.055594 meters looking forward 0.000000 meters along route # Maximum depth: 1812.055594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1737.055594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086593; longitude = -173.731903; captureRadius = 10; duration = 200; initialDepth = 1702.173035; finalDepth = 1737.055594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1737.055594 # Seafloor depth:-1812.055594 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 100.434372 meters # Minimum depth: 1777.173035 meters looking forward 0.000000 meters along route # Maximum depth: 1777.173035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1702.173035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086849; longitude = -173.732803; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1652.397366; finalDepth = 1702.173035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1702.173035 # Seafloor depth:-1777.173035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.434372 meters # Minimum depth: 1727.397366 meters looking forward 0.000000 meters along route # Maximum depth: 1727.397366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1652.397366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.086930; longitude = -173.733764; captureRadius = 10; duration = 200; initialDepth = 1623.637992; finalDepth = 1652.397366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1652.397366 # Seafloor depth:-1727.397366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.434372 meters # Minimum depth: 1698.637992 meters looking forward 0.000000 meters along route # Maximum depth: 1698.637992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1623.637992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087009; longitude = -173.734694; captureRadius = 10; duration = 200; initialDepth = 1567.190186; finalDepth = 1623.637992; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1623.637992 # Seafloor depth:-1698.637992 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 100.434372 meters # Minimum depth: 1642.190186 meters looking forward 0.000000 meters along route # Maximum depth: 1642.190186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1567.190186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087090; longitude = -173.735656; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1556.337834; finalDepth = 1567.190186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1567.190186 # Seafloor depth:-1642.190186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.434372 meters # Minimum depth: 1631.337834 meters looking forward 0.000000 meters along route # Maximum depth: 1631.337834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1556.337834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087342; longitude = -173.736555; captureRadius = 10; duration = 200; initialDepth = 1546.943722; finalDepth = 1556.337834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1556.337834 # Seafloor depth:-1631.337834 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.434372 meters # Minimum depth: 1621.943722 meters looking forward 0.000000 meters along route # Maximum depth: 1621.943722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1546.943722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087602; longitude = -173.737485; captureRadius = 10; duration = 200; initialDepth = 1499.913887; finalDepth = 1546.943722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1546.943722 # Seafloor depth:-1621.943722 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.434372 meters # Minimum depth: 1574.913887 meters looking forward 0.000000 meters along route # Maximum depth: 1574.913887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1499.913887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.087863; longitude = -173.738416; captureRadius = 10; duration = 200; initialDepth = 1478.034485; finalDepth = 1499.913887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1499.913887 # Seafloor depth:-1574.913887 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 100.434372 meters # Minimum depth: 1553.034485 meters looking forward 0.000000 meters along route # Maximum depth: 1553.034485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1478.034485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088115; longitude = -173.739315; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1449.253892; finalDepth = 1478.034485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1478.034485 # Seafloor depth:-1553.034485 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.434372 meters # Minimum depth: 1524.253892 meters looking forward 0.000000 meters along route # Maximum depth: 1524.253892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1449.253892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.088630; longitude = -173.740183; captureRadius = 10; duration = 200; initialDepth = 1429.608551; finalDepth = 1449.253892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1449.253892 # Seafloor depth:-1524.253892 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 100.434372 meters # Minimum depth: 1504.608551 meters looking forward 0.000000 meters along route # Maximum depth: 1504.608551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1429.608551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089109; longitude = -173.740989; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1381.654893; finalDepth = 1429.608551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1429.608551 # Seafloor depth:-1504.608551 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.434372 meters # Minimum depth: 1456.654893 meters looking forward 0.000000 meters along route # Maximum depth: 1456.654893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1381.654893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.089778; longitude = -173.741858; captureRadius = 10; duration = 200; initialDepth = 1364.228741; finalDepth = 1381.654893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1381.654893 # Seafloor depth:-1456.654893 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.434372 meters # Minimum depth: 1439.228741 meters looking forward 0.000000 meters along route # Maximum depth: 1439.228741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1364.228741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090351; longitude = -173.742602; captureRadius = 10; duration = 200; initialDepth = 1304.104503; finalDepth = 1364.228741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1364.228741 # Seafloor depth:-1439.228741 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.434372 meters # Minimum depth: 1379.104503 meters looking forward 0.000000 meters along route # Maximum depth: 1379.104503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1304.104503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.090947; longitude = -173.743377; captureRadius = 10; duration = 200; initialDepth = 1275.839874; finalDepth = 1304.104503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1304.104503 # Seafloor depth:-1379.104503 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 100.434372 meters # Minimum depth: 1350.839874 meters looking forward 0.000000 meters along route # Maximum depth: 1350.839874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1275.839874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.091520; longitude = -173.744121; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1245.742366; finalDepth = 1275.839874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1275.839874 # Seafloor depth:-1350.839874 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.434372 meters # Minimum depth: 1320.742366 meters looking forward 0.000000 meters along route # Maximum depth: 1320.742366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1245.742366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092213; longitude = -173.745099; captureRadius = 10; duration = 200; initialDepth = 1235.627823; finalDepth = 1245.742366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1245.742366 # Seafloor depth:-1320.742366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.434372 meters # Minimum depth: 1310.627823 meters looking forward 0.000000 meters along route # Maximum depth: 1310.627823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1235.627823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.092755; longitude = -173.745864; captureRadius = 10; duration = 200; initialDepth = 1192.936848; finalDepth = 1235.627823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1235.627823 # Seafloor depth:-1310.627823 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.434372 meters # Minimum depth: 1267.936848 meters looking forward 0.000000 meters along route # Maximum depth: 1267.936848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1192.936848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093298; longitude = -173.746630; captureRadius = 10; duration = 200; initialDepth = 1129.506773; finalDepth = 1192.936848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1192.936848 # Seafloor depth:-1267.936848 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.434372 meters # Minimum depth: 1204.506773 meters looking forward 0.000000 meters along route # Maximum depth: 1204.506773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1129.506773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.093871; longitude = -173.747439; captureRadius = 10; duration = 200; initialDepth = 1097.723022; finalDepth = 1129.506773; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1129.506773 # Seafloor depth:-1204.506773 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 100.434372 meters # Minimum depth: 1172.723022 meters looking forward 0.000000 meters along route # Maximum depth: 1172.723022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1097.723022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.094443; longitude = -173.748246; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1169.502688; finalDepth = 1097.723022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1097.723022 # Seafloor depth:-1172.723022 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.434372 meters # Minimum depth: 1244.502688 meters looking forward 0.000000 meters along route # Maximum depth: 1244.502688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1169.502688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095377; longitude = -173.749542; captureRadius = 10; duration = 200; initialDepth = 1208.146859; finalDepth = 1169.502688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1169.502688 # Seafloor depth:-1244.502688 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.434372 meters # Minimum depth: 1283.146859 meters looking forward 0.000000 meters along route # Maximum depth: 1283.146859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1208.146859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.095919; longitude = -173.750295; captureRadius = 10; duration = 200; initialDepth = 1265.953813; finalDepth = 1208.146859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1208.146859 # Seafloor depth:-1283.146859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.434372 meters # Minimum depth: 1340.953813 meters looking forward 0.000000 meters along route # Maximum depth: 1340.953813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1265.953813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.096475; longitude = -173.751067; captureRadius = 10; duration = 200; initialDepth = 1294.064178; finalDepth = 1265.953813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1265.953813 # Seafloor depth:-1340.953813 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 100.434372 meters # Minimum depth: 1369.064178 meters looking forward 0.000000 meters along route # Maximum depth: 1369.064178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1294.064178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097034; longitude = -173.751843; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1370.924155; finalDepth = 1294.064178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1294.064178 # Seafloor depth:-1369.064178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.434372 meters # Minimum depth: 1445.924155 meters looking forward 0.000000 meters along route # Maximum depth: 1445.924155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1370.924155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.097945; longitude = -173.753207; captureRadius = 10; duration = 200; initialDepth = 1426.847266; finalDepth = 1370.924155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1370.924155 # Seafloor depth:-1445.924155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.434372 meters # Minimum depth: 1501.847266 meters looking forward 0.000000 meters along route # Maximum depth: 1501.847266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1426.847266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.098505; longitude = -173.754044; captureRadius = 10; duration = 200; initialDepth = 1440.838654; finalDepth = 1426.847266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1426.847266 # Seafloor depth:-1501.847266 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 100.434372 meters # Minimum depth: 1515.838654 meters looking forward 0.000000 meters along route # Maximum depth: 1515.838654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1440.838654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099023; longitude = -173.754820; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1474.908184; finalDepth = 1440.838654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1440.838654 # Seafloor depth:-1515.838654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.434372 meters # Minimum depth: 1549.908184 meters looking forward 0.000000 meters along route # Maximum depth: 1549.908184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1474.908184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.099691; longitude = -173.755719; captureRadius = 10; duration = 200; initialDepth = 1527.616644; finalDepth = 1474.908184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1474.908184 # Seafloor depth:-1549.908184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.434372 meters # Minimum depth: 1602.616644 meters looking forward 0.000000 meters along route # Maximum depth: 1602.616644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1527.616644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100244; longitude = -173.756463; captureRadius = 10; duration = 200; initialDepth = 1563.455554; finalDepth = 1527.616644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1527.616644 # Seafloor depth:-1602.616644 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.434372 meters # Minimum depth: 1638.455554 meters looking forward 0.000000 meters along route # Maximum depth: 1638.455554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1563.455554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.100801; longitude = -173.757213; captureRadius = 10; duration = 200; initialDepth = 1589.760742; finalDepth = 1563.455554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1563.455554 # Seafloor depth:-1638.455554 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 100.434372 meters # Minimum depth: 1664.760742 meters looking forward 0.000000 meters along route # Maximum depth: 1664.760742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1589.760742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.101373; longitude = -173.757983; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1620.470140; finalDepth = 1589.760742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1589.760742 # Seafloor depth:-1664.760742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.434372 meters # Minimum depth: 1695.470140 meters looking forward 0.000000 meters along route # Maximum depth: 1695.470140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1620.470140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102238; longitude = -173.759161; captureRadius = 10; duration = 200; initialDepth = 1659.615895; finalDepth = 1620.470140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1620.47014 # Seafloor depth:-1695.470140 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.434372 meters # Minimum depth: 1734.615895 meters looking forward 0.000000 meters along route # Maximum depth: 1734.615895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1659.615895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.102785; longitude = -173.759905; captureRadius = 10; duration = 200; initialDepth = 1702.086527; finalDepth = 1659.615895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1659.615895 # Seafloor depth:-1734.615895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.434372 meters # Minimum depth: 1777.086527 meters looking forward 0.000000 meters along route # Maximum depth: 1777.086527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1702.086527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103332; longitude = -173.760651; captureRadius = 10; duration = 200; initialDepth = 1754.840902; finalDepth = 1702.086527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1702.086527 # Seafloor depth:-1777.086527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.434372 meters # Minimum depth: 1829.840902 meters looking forward 0.000000 meters along route # Maximum depth: 1829.840902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1754.840902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.103878; longitude = -173.761394; captureRadius = 10; duration = 200; initialDepth = 1801.150665; finalDepth = 1754.840902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1754.840902 # Seafloor depth:-1829.840902 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 100.434372 meters # Minimum depth: 1876.150665 meters looking forward 0.000000 meters along route # Maximum depth: 1876.150665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1801.150665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.104447; longitude = -173.762169; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1831.620753; finalDepth = 1801.150665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1801.150665 # Seafloor depth:-1876.150665 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.434372 meters # Minimum depth: 1906.620753 meters looking forward 0.000000 meters along route # Maximum depth: 1906.620753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1831.620753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105164; longitude = -173.762882; captureRadius = 10; duration = 200; initialDepth = 1847.755217; finalDepth = 1831.620753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1831.620753 # Seafloor depth:-1906.620753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.434372 meters # Minimum depth: 1922.755217 meters looking forward 0.000000 meters along route # Maximum depth: 1922.755217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1847.755217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.105818; longitude = -173.763533; captureRadius = 10; duration = 200; initialDepth = 1867.879729; finalDepth = 1847.755217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1847.755217 # Seafloor depth:-1922.755217 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.434372 meters # Minimum depth: 1942.879729 meters looking forward 0.000000 meters along route # Maximum depth: 1942.879729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1867.879729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.106496; longitude = -173.764209; captureRadius = 10; duration = 200; initialDepth = 1898.334778; finalDepth = 1867.879729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1867.879729 # Seafloor depth:-1942.879729 # behavior reson { duration = RESON_DURATION; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 100.434372 meters # Minimum depth: 1973.334778 meters looking forward 0.000000 meters along route # Maximum depth: 1973.334778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1898.334778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.107189; longitude = -173.764898; captureRadius = 10; duration = 200; # abortOnTimeout = True; initialDepth = 1955.671765; finalDepth = 1898.334778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:1898.334778 # Seafloor depth:-1973.334778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2034.999284 meters looking forward 0.000000 meters along route # Maximum depth: 2034.999284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 1955.671765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108053; longitude = -173.764650; captureRadius = 10; duration = 200; initialDepth = 2014.362942; finalDepth = 1955.671765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.327518818347 # Actual altitude: 79.327518818347 # Commanded vehicle depth:1955.67176518165 # Seafloor depth:-2034.999284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 317.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2097.012082 meters looking forward 0.000000 meters along route # Maximum depth: 2097.012082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2014.362942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.108937; longitude = -173.764395; captureRadius = 10; duration = 200; initialDepth = 2074.366544; finalDepth = 2014.362942; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.6491401744856 # Actual altitude: 82.6491401744856 # Commanded vehicle depth:2014.36294182551 # Seafloor depth:-2097.012082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 330.60; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 330.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2164.030702 meters looking forward 0.000000 meters along route # Maximum depth: 2164.030702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2074.366544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.109841; longitude = -173.764136; captureRadius = 10; duration = 200; initialDepth = 2134.370120; finalDepth = 2074.366544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6641578539766 # Actual altitude: 89.6641578539766 # Commanded vehicle depth:2074.36654414602 # Seafloor depth:-2164.030702 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2229.297276 meters looking forward 0.000000 meters along route # Maximum depth: 2229.297276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2134.370120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.110745; longitude = -173.763876; captureRadius = 10; duration = 200; initialDepth = 2194.373669; finalDepth = 2134.370120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.927156091579 # Actual altitude: 94.927156091579 # Commanded vehicle depth:2134.37011990842 # Seafloor depth:-2229.297276 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2288.325316 meters looking forward 0.000000 meters along route # Maximum depth: 2288.325316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2194.373669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.111649; longitude = -173.763616; captureRadius = 10; duration = 200; initialDepth = 2256.374889; finalDepth = 2194.373669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.927156091579 # Actual altitude: 94.927156091579 # Commanded vehicle depth:2194.37366853536 # Seafloor depth:-2288.325316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2343.170646 meters looking forward 0.000000 meters along route # Maximum depth: 2343.170646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2256.374889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.112583; longitude = -173.763347; captureRadius = 10; duration = 200; initialDepth = 2314.380686; finalDepth = 2256.374889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.9516474646439 # Actual altitude: 93.9516474646439 # Commanded vehicle depth:2256.37488888965 # Seafloor depth:-2343.170646 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.19; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2395.053360 meters looking forward 0.000000 meters along route # Maximum depth: 2395.053360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2314.380686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.113457; longitude = -173.763096; captureRadius = 10; duration = 200; initialDepth = 2368.676705; finalDepth = 2314.380686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.7957571103493 # Actual altitude: 86.7957571103493 # Commanded vehicle depth:2314.38068553754 # Seafloor depth:-2395.053360 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 347.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2443.676705 meters looking forward 0.000000 meters along route # Maximum depth: 2443.676705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2368.676705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.114361; longitude = -173.762836; captureRadius = 10; duration = 200; initialDepth = 2415.011166; finalDepth = 2368.676705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6726744624589 # Actual altitude: 80.6726744624589 # Commanded vehicle depth:2368.676705 # Seafloor depth:-2443.676705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.69; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 322.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2490.011166 meters looking forward 0.000000 meters along route # Maximum depth: 2490.011166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2415.011166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.115265; longitude = -173.762576; captureRadius = 10; duration = 200; initialDepth = 2448.315489; finalDepth = 2415.011166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2415.011166 # Seafloor depth:-2490.011166 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2523.315489 meters looking forward 0.000000 meters along route # Maximum depth: 2523.315489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2448.315489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.116169; longitude = -173.762316; captureRadius = 10; duration = 200; initialDepth = 2465.332064; finalDepth = 2448.315489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2448.315489 # Seafloor depth:-2523.315489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2540.332064 meters looking forward 0.000000 meters along route # Maximum depth: 2540.332064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2465.332064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117073; longitude = -173.762056; captureRadius = 10; duration = 200; initialDepth = 2483.758229; finalDepth = 2465.332064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2465.332064 # Seafloor depth:-2540.332064 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2558.758229 meters looking forward 0.000000 meters along route # Maximum depth: 2558.758229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2483.758229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.117977; longitude = -173.761797; captureRadius = 10; duration = 200; initialDepth = 2494.890501; finalDepth = 2483.758229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2483.758229 # Seafloor depth:-2558.758229 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2569.890501 meters looking forward 0.000000 meters along route # Maximum depth: 2569.890501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2494.890501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.118881; longitude = -173.761537; captureRadius = 10; duration = 200; initialDepth = 2507.022861; finalDepth = 2494.890501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2494.890501 # Seafloor depth:-2569.890501 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2582.022861 meters looking forward 0.000000 meters along route # Maximum depth: 2582.022861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2507.022861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.119785; longitude = -173.761277; captureRadius = 10; duration = 200; initialDepth = 2522.442228; finalDepth = 2507.022861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2507.022861 # Seafloor depth:-2582.022861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2597.442228 meters looking forward 0.000000 meters along route # Maximum depth: 2597.442228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2522.442228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.120689; longitude = -173.761017; captureRadius = 10; duration = 200; initialDepth = 2544.460483; finalDepth = 2522.442228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2522.442228 # Seafloor depth:-2597.442228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2619.460483 meters looking forward 0.000000 meters along route # Maximum depth: 2619.460483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2544.460483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.121593; longitude = -173.760757; captureRadius = 10; duration = 200; initialDepth = 2540.695351; finalDepth = 2544.460483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2544.460483 # Seafloor depth:-2619.460483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.434372 meters # Minimum depth: 2615.695351 meters looking forward 0.000000 meters along route # Maximum depth: 2615.695351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2923.053489 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2540.695351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.122497; longitude = -173.760497; captureRadius = 10; duration = 200; initialDepth = 2538.107605; finalDepth = 2540.695351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth:2540.695351 # Seafloor depth:-2615.695351 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 75 # Sonar parameter altitude: 75 # Commanded vehicle depth:2538.107605 # Seafloor depth:-2613.107605 # behavior reson { duration = RESON_DURATION; 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 = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 100.434372 meters # Minimum depth: 2613.107605 meters looking forward 0.000000 meters along route # Maximum depth: 2613.107605 meters looking forward 0.000000 meters along route # Vehicle depth: 2538.107605 meters behavior waypoint { latitude = -15.123371; longitude = -173.760246; captureRadius = 10; duration = 1269; depth = 2538.107605; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2538.107605 meters set by local depth and desired altitude behavior descend { duration = 7519; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 100.434372 meters # Minimum depth: 2613.107605 meters looking forward 0.000000 meters along route # Maximum depth: 2613.107605 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = -15.123371; longitude = -173.760246; captureRadius = 10; duration = 1000; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 270.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 270.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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