# 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_Tafu_1v5.rte # Mission File: MAUV_Tafu_1v5.cfg # Distance: 76178.825313 (m) # Estimated Time: 54418 (s) 15.116 (hr) # Abort Time: 60781 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2218 (s) # Way Points: 45 # Route Points: 724 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.6 # Subbottom disabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 35 (m) # Maximum Vehicle Depth: 2148.093424 (m) # Abort Vehicle Depth: 2173.093424 (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 -174.265535 -15.402322 -1813.299347 0.000000 1 # 1 -174.257894 -15.396086 -1698.564972 1072.607142 1 # 2 -174.250936 -15.391959 -1659.606079 1948.682052 1 # 3 -174.245967 -15.386777 -1648.556091 2732.378221 1 # 4 -174.218695 -15.354361 -2114.306641 7365.810626 1 # 5 -174.217391 -15.355174 -2116.556966 7532.423805 1 # 6 -174.244973 -15.387801 -1730.250854 12205.028437 1 # 7 -174.250160 -15.393013 -1665.833771 13007.244876 1 # 8 -174.256620 -15.396749 -1666.920898 13815.159076 1 # 9 -174.258080 -15.394730 -1731.509115 14088.186893 1 # 10 -174.251775 -15.390964 -1660.319183 14883.603081 1 # 11 -174.246898 -15.385783 -1648.985931 15660.520501 1 # 12 -174.219907 -15.353457 -2112.520996 20267.202169 1 # 13 -174.221304 -15.352915 -2073.516927 20428.943730 1 # 14 -174.247923 -15.384969 -1743.164388 24987.103215 1 # 15 -174.252614 -15.389970 -1746.008464 25735.768203 1 # 16 -174.259602 -15.394128 -1792.809570 26616.417078 1 # 17 -174.256683 -15.398436 -1761.005046 27187.308244 1 # 18 -174.249352 -15.393947 -1747.005208 28118.495345 1 # 19 -174.243854 -15.388795 -1811.085938 28939.586865 1 # 20 -174.216148 -15.355867 -2137.692383 33646.442136 1 # 21 -174.215434 -15.357253 -2173.093424 33818.020537 1 # 22 -174.242736 -15.389880 -1924.723724 38471.607886 1 # 23 -174.248420 -15.395122 -1845.342255 39314.069908 1 # 24 -174.255471 -15.399249 -1853.403534 40198.675737 1 # 25 -174.259882 -15.392772 -1881.796478 41058.250073 1 # 26 -174.253328 -15.388946 -1821.417084 41879.941033 1 # 27 -174.248855 -15.384065 -1822.122559 42603.128655 1 # 28 -174.222764 -15.352614 -2095.264323 47073.690572 1 # 29 -174.217950 -15.358699 -2079.169596 47923.195712 1 # 30 -174.223168 -15.357615 -1896.055990 48496.581635 1 # 31 -174.223603 -15.352252 -2112.825684 49092.201783 1 # 32 -174.224348 -15.352071 -2097.762329 49174.741948 1 # 33 -174.252893 -15.386445 -1876.119954 54062.757088 1 # 34 -174.254167 -15.385421 -1931.033529 54240.464485 1 # 35 -174.223541 -15.348848 -2152.539368 59458.362174 1 # 36 -174.224845 -15.347854 -2081.153748 59636.536971 1 # 37 -174.255471 -15.384246 -2018.768463 64838.915552 1 # 38 -174.256683 -15.383162 -2093.645142 65016.002139 1 # 39 -174.226150 -15.346859 -2008.442810 70204.432899 1 # 40 -174.227454 -15.345865 -2019.457245 70382.608363 1 # 41 -174.244507 -15.366562 -1719.220184 73316.759133 1 # 42 -174.249228 -15.366261 -1937.249786 73825.068868 1 # 43 -174.249135 -15.364724 -1905.254730 73995.549926 1 # 44 -174.228852 -15.365929 -1848.952545 76178.825313 1 # # A total of 724 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 57400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2148.093424; abortDepth = 2173.093424; minAltitude = 50.000000; abortAltitude = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2218; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # #behavior acousticUpdate #{ #duration = 2; #dummy = 1; #} # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 109.024045 meters # Minimum depth: 1848.952545 meters looking forward 0.000000 meters along route # Maximum depth: 1848.952545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.952545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365929; longitude = -174.228852; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1781.435089; finalDepth = 1798.952545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.952545 # Seafloor depth:-1848.952545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1831.435089 meters looking forward 0.000000 meters along route # Maximum depth: 1831.435089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.435089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365833; longitude = -174.230467; captureRadius = 10; duration = 218; initialDepth = 1767.581068; finalDepth = 1781.435089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1781.435089 # Seafloor depth:-1831.435089 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1817.581068 meters looking forward 0.000000 meters along route # Maximum depth: 1817.581068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.581068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365778; longitude = -174.231399; captureRadius = 10; duration = 218; initialDepth = 1727.975306; finalDepth = 1767.581068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1767.581068 # Seafloor depth:-1817.581068 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1777.975306 meters looking forward 0.000000 meters along route # Maximum depth: 1777.975306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.975306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365722; longitude = -174.232331; captureRadius = 10; duration = 218; initialDepth = 1683.300201; finalDepth = 1727.975306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1727.975306 # Seafloor depth:-1777.975306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1733.300201 meters looking forward 0.000000 meters along route # Maximum depth: 1733.300201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.300201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365667; longitude = -174.233263; captureRadius = 10; duration = 218; initialDepth = 1630.550153; finalDepth = 1683.300201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1683.300201 # Seafloor depth:-1733.300201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1680.550153 meters looking forward 0.000000 meters along route # Maximum depth: 1680.550153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.550153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365612; longitude = -174.234195; captureRadius = 10; duration = 218; initialDepth = 1579.814420; finalDepth = 1630.550153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1630.550153 # Seafloor depth:-1680.550153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1629.814420 meters looking forward 0.000000 meters along route # Maximum depth: 1629.814420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.814420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365556; longitude = -174.235126; captureRadius = 10; duration = 218; initialDepth = 1518.402871; finalDepth = 1579.814420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1579.81442 # Seafloor depth:-1629.814420 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1568.402871 meters looking forward 0.000000 meters along route # Maximum depth: 1568.402871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.402871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365501; longitude = -174.236058; captureRadius = 10; duration = 218; initialDepth = 1450.546308; finalDepth = 1518.402871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1518.402871 # Seafloor depth:-1568.402871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1500.546308 meters looking forward 0.000000 meters along route # Maximum depth: 1500.546308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1450.546308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365446; longitude = -174.236990; captureRadius = 10; duration = 218; initialDepth = 1407.057534; finalDepth = 1450.546308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1450.546308 # Seafloor depth:-1500.546308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1457.057534 meters looking forward 0.000000 meters along route # Maximum depth: 1457.057534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.057534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365390; longitude = -174.237922; captureRadius = 10; duration = 218; initialDepth = 1398.440650; finalDepth = 1407.057534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1407.057534 # Seafloor depth:-1457.057534 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1448.440650 meters looking forward 0.000000 meters along route # Maximum depth: 1448.440650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.440650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365335; longitude = -174.238854; captureRadius = 10; duration = 218; initialDepth = 1405.990489; finalDepth = 1398.440650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1398.44065 # Seafloor depth:-1448.440650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1455.990489 meters looking forward 0.000000 meters along route # Maximum depth: 1455.990489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.990489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365279; longitude = -174.239785; captureRadius = 10; duration = 218; initialDepth = 1431.668904; finalDepth = 1405.990489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1405.990489 # Seafloor depth:-1455.990489 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1481.668904 meters looking forward 0.000000 meters along route # Maximum depth: 1481.668904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.668904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365224; longitude = -174.240717; captureRadius = 10; duration = 218; initialDepth = 1482.775274; finalDepth = 1431.668904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1431.668904 # Seafloor depth:-1481.668904 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1540.885240 meters looking forward 0.000000 meters along route # Maximum depth: 1540.885240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.775274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365169; longitude = -174.241649; captureRadius = 10; duration = 218; initialDepth = 1533.881620; finalDepth = 1482.775274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1099658234252 # Actual altitude: 58.1099658234252 # Commanded vehicle depth:1482.77527417657 # Seafloor depth:-1540.885240 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 232.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.87; MB_Bottom_Detect_Filter_Max_Range = 232.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1598.072932 meters looking forward 0.000000 meters along route # Maximum depth: 1598.072932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.881620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365113; longitude = -174.242581; captureRadius = 10; duration = 218; initialDepth = 1584.987943; finalDepth = 1533.881620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1913115945431 # Actual altitude: 64.1913115945431 # Commanded vehicle depth:1533.88162040546 # Seafloor depth:-1598.072932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 256.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.51; MB_Bottom_Detect_Filter_Max_Range = 256.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1654.948012 meters looking forward 0.000000 meters along route # Maximum depth: 1654.948012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.987943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365058; longitude = -174.243513; captureRadius = 10; duration = 218; initialDepth = 1636.094242; finalDepth = 1584.987943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9600688038392 # Actual altitude: 69.9600688038392 # Commanded vehicle depth:1584.98794319616 # Seafloor depth:-1654.948012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.98; MB_Bottom_Detect_Filter_Max_Range = 279.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1694.261995 meters looking forward 0.000000 meters along route # Maximum depth: 1694.261995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.094242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365003; longitude = -174.244445; captureRadius = 10; duration = 218; initialDepth = 1659.579066; finalDepth = 1636.094242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9600688038392 # Actual altitude: 69.9600688038392 # Commanded vehicle depth:1636.09424152965 # Seafloor depth:-1694.261995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 279.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.98; MB_Bottom_Detect_Filter_Max_Range = 279.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1709.579066 meters looking forward 0.000000 meters along route # Maximum depth: 1709.579066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.579066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364947; longitude = -174.245376; captureRadius = 10; duration = 218; initialDepth = 1686.995788; finalDepth = 1659.579066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1677534703499 # Actual altitude: 58.1677534703499 # Commanded vehicle depth:1659.579066 # Seafloor depth:-1709.579066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 232.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.90; MB_Bottom_Detect_Filter_Max_Range = 232.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1736.995788 meters looking forward 0.000000 meters along route # Maximum depth: 1736.995788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.995788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364892; longitude = -174.246308; captureRadius = 10; duration = 218; initialDepth = 1731.330395; finalDepth = 1686.995788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1686.995788 # Seafloor depth:-1736.995788 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1781.330395 meters looking forward 0.000000 meters along route # Maximum depth: 1781.330395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.330395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364837; longitude = -174.247240; captureRadius = 10; duration = 218; initialDepth = 1779.124845; finalDepth = 1731.330395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.330395 # Seafloor depth:-1781.330395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 109.024045 meters # Minimum depth: 1829.124845 meters looking forward 0.000000 meters along route # Maximum depth: 1829.124845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.124845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364781; longitude = -174.248172; captureRadius = 10; duration = 218; initialDepth = 1831.947256; finalDepth = 1779.124845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.124845 # Seafloor depth:-1829.124845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 109.024045 meters # Minimum depth: 1905.254730 meters looking forward 0.000000 meters along route # Maximum depth: 1905.254730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.947256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364724; longitude = -174.249135; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1887.249786; finalDepth = 1831.947256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3074739056708 # Actual altitude: 73.3074739056708 # Commanded vehicle depth:1831.94725609433 # Seafloor depth:-1905.254730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.98; MB_Bottom_Detect_Filter_Max_Range = 293.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 109.024045 meters # Minimum depth: 1937.249786 meters looking forward 0.000000 meters along route # Maximum depth: 1937.249786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.249786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366261; longitude = -174.249228; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1845.335713; finalDepth = 1887.249786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3074739056708 # Actual altitude: 73.3074739056708 # Commanded vehicle depth:1887.249786 # Seafloor depth:-1937.249786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 293.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.98; MB_Bottom_Detect_Filter_Max_Range = 293.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.024045 meters # Minimum depth: 1895.335713 meters looking forward 0.000000 meters along route # Maximum depth: 1895.335713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.335713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366322; longitude = -174.248265; captureRadius = 10; duration = 218; initialDepth = 1803.249512; finalDepth = 1845.335713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1845.335713 # Seafloor depth:-1895.335713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.024045 meters # Minimum depth: 1853.249512 meters looking forward 0.000000 meters along route # Maximum depth: 1853.249512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.249512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366382; longitude = -174.247333; captureRadius = 10; duration = 218; initialDepth = 1766.436088; finalDepth = 1803.249512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1803.249512 # Seafloor depth:-1853.249512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.024045 meters # Minimum depth: 1816.436088 meters looking forward 0.000000 meters along route # Maximum depth: 1816.436088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.436088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366441; longitude = -174.246401; captureRadius = 10; duration = 218; initialDepth = 1721.571527; finalDepth = 1766.436088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1766.436088 # Seafloor depth:-1816.436088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.024045 meters # Minimum depth: 1771.571527 meters looking forward 0.000000 meters along route # Maximum depth: 1771.571527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.571527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366502; longitude = -174.245451; captureRadius = 10; duration = 218; initialDepth = 1669.220184; finalDepth = 1721.571527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1721.571527 # Seafloor depth:-1771.571527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 109.024045 meters # Minimum depth: 1719.220184 meters looking forward 0.000000 meters along route # Maximum depth: 1719.220184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.220184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366562; longitude = -174.244507; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1604.794138; finalDepth = 1669.220184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1669.220184 # Seafloor depth:-1719.220184 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1654.794138 meters looking forward 0.000000 meters along route # Maximum depth: 1654.794138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.794138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365417; longitude = -174.243564; captureRadius = 10; duration = 218; initialDepth = 1591.838127; finalDepth = 1604.794138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1604.794138 # Seafloor depth:-1654.794138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1641.838127 meters looking forward 0.000000 meters along route # Maximum depth: 1641.838127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1591.838127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364677; longitude = -174.242954; captureRadius = 10; duration = 218; initialDepth = 1578.906328; finalDepth = 1591.838127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1591.838127 # Seafloor depth:-1641.838127 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1628.906328 meters looking forward 0.000000 meters along route # Maximum depth: 1628.906328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.906328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363971; longitude = -174.242372; captureRadius = 10; duration = 218; initialDepth = 1585.934719; finalDepth = 1578.906328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1578.906328 # Seafloor depth:-1628.906328 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1635.934719 meters looking forward 0.000000 meters along route # Maximum depth: 1635.934719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.934719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363248; longitude = -174.241777; captureRadius = 10; duration = 218; initialDepth = 1597.817611; finalDepth = 1585.934719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1585.934719 # Seafloor depth:-1635.934719 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1647.817611 meters looking forward 0.000000 meters along route # Maximum depth: 1647.817611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.817611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362525; longitude = -174.241181; captureRadius = 10; duration = 218; initialDepth = 1619.029791; finalDepth = 1597.817611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1597.817611 # Seafloor depth:-1647.817611 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1669.029791 meters looking forward 0.000000 meters along route # Maximum depth: 1669.029791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.029791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361802; longitude = -174.240585; captureRadius = 10; duration = 218; initialDepth = 1652.278703; finalDepth = 1619.029791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1619.029791 # Seafloor depth:-1669.029791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1702.278703 meters looking forward 0.000000 meters along route # Maximum depth: 1702.278703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.278703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361079; longitude = -174.239989; captureRadius = 10; duration = 218; initialDepth = 1695.545186; finalDepth = 1652.278703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1652.278703 # Seafloor depth:-1702.278703 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1745.545186 meters looking forward 0.000000 meters along route # Maximum depth: 1745.545186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.545186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360356; longitude = -174.239394; captureRadius = 10; duration = 218; initialDepth = 1743.157282; finalDepth = 1695.545186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1695.545186 # Seafloor depth:-1745.545186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1793.157282 meters looking forward 0.000000 meters along route # Maximum depth: 1793.157282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.157282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359633; longitude = -174.238798; captureRadius = 10; duration = 218; initialDepth = 1780.371603; finalDepth = 1743.157282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1743.157282 # Seafloor depth:-1793.157282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1830.371603 meters looking forward 0.000000 meters along route # Maximum depth: 1830.371603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.371603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358909; longitude = -174.238201; captureRadius = 10; duration = 218; initialDepth = 1811.297806; finalDepth = 1780.371603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1780.371603 # Seafloor depth:-1830.371603 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1861.297806 meters looking forward 0.000000 meters along route # Maximum depth: 1861.297806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.297806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358187; longitude = -174.237607; captureRadius = 10; duration = 218; initialDepth = 1833.986646; finalDepth = 1811.297806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1811.297806 # Seafloor depth:-1861.297806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1883.986646 meters looking forward 0.000000 meters along route # Maximum depth: 1883.986646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.986646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357464; longitude = -174.237011; captureRadius = 10; duration = 218; initialDepth = 1869.255884; finalDepth = 1833.986646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1833.986646 # Seafloor depth:-1883.986646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1919.255884 meters looking forward 0.000000 meters along route # Maximum depth: 1919.255884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.255884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356741; longitude = -174.236415; captureRadius = 10; duration = 218; initialDepth = 1881.875121; finalDepth = 1869.255884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1869.255884 # Seafloor depth:-1919.255884 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1931.875121 meters looking forward 0.000000 meters along route # Maximum depth: 1931.875121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.875121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356018; longitude = -174.235819; captureRadius = 10; duration = 218; initialDepth = 1882.983048; finalDepth = 1881.875121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1881.875121 # Seafloor depth:-1931.875121 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1932.983048 meters looking forward 0.000000 meters along route # Maximum depth: 1932.983048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.983048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355290; longitude = -174.235220; captureRadius = 10; duration = 218; initialDepth = 1908.551985; finalDepth = 1882.983048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1882.983048 # Seafloor depth:-1932.983048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1958.551985 meters looking forward 0.000000 meters along route # Maximum depth: 1958.551985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.551985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354572; longitude = -174.234628; captureRadius = 10; duration = 218; initialDepth = 1938.496262; finalDepth = 1908.551985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1908.551985 # Seafloor depth:-1958.551985 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1988.496262 meters looking forward 0.000000 meters along route # Maximum depth: 1988.496262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1938.496262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353849; longitude = -174.234032; captureRadius = 10; duration = 218; initialDepth = 1945.197753; finalDepth = 1938.496262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1938.496262 # Seafloor depth:-1988.496262 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1995.197753 meters looking forward 0.000000 meters along route # Maximum depth: 1995.197753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.197753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353126; longitude = -174.233436; captureRadius = 10; duration = 218; initialDepth = 1960.781853; finalDepth = 1945.197753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1945.197753 # Seafloor depth:-1995.197753 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 2010.781853 meters looking forward 0.000000 meters along route # Maximum depth: 2010.781853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1960.781853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352403; longitude = -174.232841; captureRadius = 10; duration = 218; initialDepth = 1971.767370; finalDepth = 1960.781853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1960.781853 # Seafloor depth:-2010.781853 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 2021.767370 meters looking forward 0.000000 meters along route # Maximum depth: 2021.767370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1971.767370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.351671; longitude = -174.232238; captureRadius = 10; duration = 218; initialDepth = 1952.971200; finalDepth = 1971.767370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1971.76737 # Seafloor depth:-2021.767370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 2002.971200 meters looking forward 0.000000 meters along route # Maximum depth: 2002.971200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1952.971200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.350957; longitude = -174.231649; captureRadius = 10; duration = 218; initialDepth = 1961.445366; finalDepth = 1952.971200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1952.9712 # Seafloor depth:-2002.971200 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 2011.445366 meters looking forward 0.000000 meters along route # Maximum depth: 2011.445366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1961.445366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.350234; longitude = -174.231053; captureRadius = 10; duration = 218; initialDepth = 1950.552109; finalDepth = 1961.445366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1961.445366 # Seafloor depth:-2011.445366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 2000.552109 meters looking forward 0.000000 meters along route # Maximum depth: 2000.552109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1950.552109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.349511; longitude = -174.230458; captureRadius = 10; duration = 218; initialDepth = 1939.190703; finalDepth = 1950.552109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1950.552109 # Seafloor depth:-2000.552109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1989.190703 meters looking forward 0.000000 meters along route # Maximum depth: 1989.190703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1939.190703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.348788; longitude = -174.229862; captureRadius = 10; duration = 218; initialDepth = 1920.987578; finalDepth = 1939.190703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1939.190703 # Seafloor depth:-1989.190703 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1970.987578 meters looking forward 0.000000 meters along route # Maximum depth: 1970.987578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1920.987578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.348052; longitude = -174.229256; captureRadius = 10; duration = 218; initialDepth = 1935.133122; finalDepth = 1920.987578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1920.987578 # Seafloor depth:-1970.987578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1985.133122 meters looking forward 0.000000 meters along route # Maximum depth: 1985.133122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.133122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.347342; longitude = -174.228671; captureRadius = 10; duration = 218; initialDepth = 1947.240078; finalDepth = 1935.133122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1935.133122 # Seafloor depth:-1985.133122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 109.024045 meters # Minimum depth: 1997.240078 meters looking forward 0.000000 meters along route # Maximum depth: 1997.240078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.240078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.346582; longitude = -174.228045; captureRadius = 10; duration = 218; initialDepth = 1969.457245; finalDepth = 1947.240078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1947.240078 # Seafloor depth:-1997.240078 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 109.024045 meters # Minimum depth: 2019.457245 meters looking forward 0.000000 meters along route # Maximum depth: 2019.457245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1969.457245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.345865; longitude = -174.227454; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1958.442810; finalDepth = 1969.457245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1969.457245 # Seafloor depth:-2019.457245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 109.024045 meters # Minimum depth: 2008.442810 meters looking forward 0.000000 meters along route # Maximum depth: 2008.442810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1958.442810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.346859; longitude = -174.226150; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1916.062944; finalDepth = 1958.442810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1958.44281 # Seafloor depth:-2008.442810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1966.062944 meters looking forward 0.000000 meters along route # Maximum depth: 1966.062944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.062944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.347703; longitude = -174.226860; captureRadius = 10; duration = 218; initialDepth = 1880.927852; finalDepth = 1916.062944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1916.062944 # Seafloor depth:-1966.062944 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1930.927852 meters looking forward 0.000000 meters along route # Maximum depth: 1930.927852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.927852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.348447; longitude = -174.227485; captureRadius = 10; duration = 218; initialDepth = 1839.007994; finalDepth = 1880.927852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1880.927852 # Seafloor depth:-1930.927852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1889.007994 meters looking forward 0.000000 meters along route # Maximum depth: 1889.007994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.007994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.349149; longitude = -174.228076; captureRadius = 10; duration = 218; initialDepth = 1849.857368; finalDepth = 1839.007994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1839.007994 # Seafloor depth:-1889.007994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1899.857368 meters looking forward 0.000000 meters along route # Maximum depth: 1899.857368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.857368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.349887; longitude = -174.228697; captureRadius = 10; duration = 218; initialDepth = 1847.645772; finalDepth = 1849.857368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1849.857368 # Seafloor depth:-1899.857368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1897.645772 meters looking forward 0.000000 meters along route # Maximum depth: 1897.645772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.645772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.350595; longitude = -174.229292; captureRadius = 10; duration = 218; initialDepth = 1850.507465; finalDepth = 1847.645772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1847.645772 # Seafloor depth:-1897.645772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1900.507465 meters looking forward 0.000000 meters along route # Maximum depth: 1900.507465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.507465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.351327; longitude = -174.229908; captureRadius = 10; duration = 218; initialDepth = 1859.927658; finalDepth = 1850.507465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1850.507465 # Seafloor depth:-1900.507465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1909.927658 meters looking forward 0.000000 meters along route # Maximum depth: 1909.927658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.927658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352041; longitude = -174.230509; captureRadius = 10; duration = 218; initialDepth = 1843.436120; finalDepth = 1859.927658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1859.927658 # Seafloor depth:-1909.927658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1893.436120 meters looking forward 0.000000 meters along route # Maximum depth: 1893.436120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.436120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352768; longitude = -174.231120; captureRadius = 10; duration = 218; initialDepth = 1836.143575; finalDepth = 1843.436120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1843.43612 # Seafloor depth:-1893.436120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1886.143575 meters looking forward 0.000000 meters along route # Maximum depth: 1886.143575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.143575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353487; longitude = -174.231725; captureRadius = 10; duration = 218; initialDepth = 1803.161611; finalDepth = 1836.143575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1836.143575 # Seafloor depth:-1886.143575 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1853.161611 meters looking forward 0.000000 meters along route # Maximum depth: 1853.161611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.161611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354210; longitude = -174.232333; captureRadius = 10; duration = 218; initialDepth = 1808.881113; finalDepth = 1803.161611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1803.161611 # Seafloor depth:-1853.161611 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1858.881113 meters looking forward 0.000000 meters along route # Maximum depth: 1858.881113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.881113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354933; longitude = -174.232941; captureRadius = 10; duration = 218; initialDepth = 1804.390073; finalDepth = 1808.881113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1808.881113 # Seafloor depth:-1858.881113 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1854.390073 meters looking forward 0.000000 meters along route # Maximum depth: 1854.390073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.390073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355656; longitude = -174.233549; captureRadius = 10; duration = 218; initialDepth = 1790.937440; finalDepth = 1804.390073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1804.390073 # Seafloor depth:-1854.390073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1840.937440 meters looking forward 0.000000 meters along route # Maximum depth: 1840.937440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.937440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356379; longitude = -174.234157; captureRadius = 10; duration = 218; initialDepth = 1796.075457; finalDepth = 1790.937440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1790.93744 # Seafloor depth:-1840.937440 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1846.075457 meters looking forward 0.000000 meters along route # Maximum depth: 1846.075457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.075457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357102; longitude = -174.234765; captureRadius = 10; duration = 218; initialDepth = 1775.648613; finalDepth = 1796.075457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1796.075457 # Seafloor depth:-1846.075457 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1825.648613 meters looking forward 0.000000 meters along route # Maximum depth: 1825.648613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.648613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357825; longitude = -174.235373; captureRadius = 10; duration = 218; initialDepth = 1754.554980; finalDepth = 1775.648613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.648613 # Seafloor depth:-1825.648613 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1804.554980 meters looking forward 0.000000 meters along route # Maximum depth: 1804.554980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.554980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358548; longitude = -174.235982; captureRadius = 10; duration = 218; initialDepth = 1716.401000; finalDepth = 1754.554980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1754.55498 # Seafloor depth:-1804.554980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1766.401000 meters looking forward 0.000000 meters along route # Maximum depth: 1766.401000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.401000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359272; longitude = -174.236590; captureRadius = 10; duration = 218; initialDepth = 1695.316087; finalDepth = 1716.401000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1716.401 # Seafloor depth:-1766.401000 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1745.316087 meters looking forward 0.000000 meters along route # Maximum depth: 1745.316087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.316087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359995; longitude = -174.237198; captureRadius = 10; duration = 218; initialDepth = 1671.035857; finalDepth = 1695.316087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1695.316087 # Seafloor depth:-1745.316087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1721.035857 meters looking forward 0.000000 meters along route # Maximum depth: 1721.035857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.035857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360718; longitude = -174.237806; captureRadius = 10; duration = 218; initialDepth = 1631.946449; finalDepth = 1671.035857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1671.035857 # Seafloor depth:-1721.035857 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1681.946449 meters looking forward 0.000000 meters along route # Maximum depth: 1681.946449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.946449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361441; longitude = -174.238414; captureRadius = 10; duration = 218; initialDepth = 1580.585795; finalDepth = 1631.946449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1631.946449 # Seafloor depth:-1681.946449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1630.585795 meters looking forward 0.000000 meters along route # Maximum depth: 1630.585795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.585795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362185; longitude = -174.239040; captureRadius = 10; duration = 218; initialDepth = 1541.398522; finalDepth = 1580.585795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1580.585795 # Seafloor depth:-1630.585795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1591.398522 meters looking forward 0.000000 meters along route # Maximum depth: 1591.398522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.398522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362887; longitude = -174.239630; captureRadius = 10; duration = 218; initialDepth = 1509.026702; finalDepth = 1541.398522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1541.398522 # Seafloor depth:-1591.398522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1559.026702 meters looking forward 0.000000 meters along route # Maximum depth: 1559.026702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.026702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363625; longitude = -174.240251; captureRadius = 10; duration = 218; initialDepth = 1493.984096; finalDepth = 1509.026702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1509.026702 # Seafloor depth:-1559.026702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1543.984096 meters looking forward 0.000000 meters along route # Maximum depth: 1543.984096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.984096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364333; longitude = -174.240846; captureRadius = 10; duration = 218; initialDepth = 1483.127115; finalDepth = 1493.984096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1493.984096 # Seafloor depth:-1543.984096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1533.127115 meters looking forward 0.000000 meters along route # Maximum depth: 1533.127115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.127115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365066; longitude = -174.241463; captureRadius = 10; duration = 218; initialDepth = 1507.890435; finalDepth = 1483.127115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1483.127115 # Seafloor depth:-1533.127115 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1557.890435 meters looking forward 0.000000 meters along route # Maximum depth: 1557.890435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.890435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365779; longitude = -174.242063; captureRadius = 10; duration = 218; initialDepth = 1559.903196; finalDepth = 1507.890435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1507.890435 # Seafloor depth:-1557.890435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1609.903196 meters looking forward 0.000000 meters along route # Maximum depth: 1609.903196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.903196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366506; longitude = -174.242674; captureRadius = 10; duration = 218; initialDepth = 1602.764126; finalDepth = 1559.903196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1559.903196 # Seafloor depth:-1609.903196 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1652.764126 meters looking forward 0.000000 meters along route # Maximum depth: 1652.764126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.764126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367225; longitude = -174.243279; captureRadius = 10; duration = 218; initialDepth = 1633.956098; finalDepth = 1602.764126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1602.764126 # Seafloor depth:-1652.764126 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1683.956098 meters looking forward 0.000000 meters along route # Maximum depth: 1683.956098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.956098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367948; longitude = -174.243887; captureRadius = 10; duration = 218; initialDepth = 1674.096238; finalDepth = 1633.956098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1633.956098 # Seafloor depth:-1683.956098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1724.096238 meters looking forward 0.000000 meters along route # Maximum depth: 1724.096238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.096238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368671; longitude = -174.244495; captureRadius = 10; duration = 218; initialDepth = 1704.600114; finalDepth = 1674.096238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1674.096238 # Seafloor depth:-1724.096238 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1754.600114 meters looking forward 0.000000 meters along route # Maximum depth: 1754.600114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.600114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369394; longitude = -174.245103; captureRadius = 10; duration = 218; initialDepth = 1730.117310; finalDepth = 1704.600114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1704.600114 # Seafloor depth:-1754.600114 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1780.117310 meters looking forward 0.000000 meters along route # Maximum depth: 1780.117310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.117310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370117; longitude = -174.245711; captureRadius = 10; duration = 218; initialDepth = 1761.427611; finalDepth = 1730.117310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1730.11731 # Seafloor depth:-1780.117310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1811.427611 meters looking forward 0.000000 meters along route # Maximum depth: 1811.427611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.427611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370840; longitude = -174.246319; captureRadius = 10; duration = 218; initialDepth = 1799.763726; finalDepth = 1761.427611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.427611 # Seafloor depth:-1811.427611 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1849.763726 meters looking forward 0.000000 meters along route # Maximum depth: 1849.763726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.763726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371563; longitude = -174.246928; captureRadius = 10; duration = 218; initialDepth = 1825.983686; finalDepth = 1799.763726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1799.763726 # Seafloor depth:-1849.763726 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1875.983686 meters looking forward 0.000000 meters along route # Maximum depth: 1875.983686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.983686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372286; longitude = -174.247536; captureRadius = 10; duration = 218; initialDepth = 1840.343176; finalDepth = 1825.983686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.983686 # Seafloor depth:-1875.983686 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1890.343176 meters looking forward 0.000000 meters along route # Maximum depth: 1890.343176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.343176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373009; longitude = -174.248144; captureRadius = 10; duration = 218; initialDepth = 1862.356598; finalDepth = 1840.343176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1840.343176 # Seafloor depth:-1890.343176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1912.356598 meters looking forward 0.000000 meters along route # Maximum depth: 1912.356598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.356598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373732; longitude = -174.248752; captureRadius = 10; duration = 218; initialDepth = 1885.171759; finalDepth = 1862.356598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1862.356598 # Seafloor depth:-1912.356598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1935.171759 meters looking forward 0.000000 meters along route # Maximum depth: 1935.171759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.171759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374455; longitude = -174.249360; captureRadius = 10; duration = 218; initialDepth = 1912.607906; finalDepth = 1885.171759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1885.171759 # Seafloor depth:-1935.171759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1962.607906 meters looking forward 0.000000 meters along route # Maximum depth: 1962.607906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.607906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375178; longitude = -174.249968; captureRadius = 10; duration = 218; initialDepth = 1936.462573; finalDepth = 1912.607906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1912.607906 # Seafloor depth:-1962.607906 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1986.462573 meters looking forward 0.000000 meters along route # Maximum depth: 1986.462573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.462573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375923; longitude = -174.250595; captureRadius = 10; duration = 218; initialDepth = 1963.034602; finalDepth = 1936.462573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1936.462573 # Seafloor depth:-1986.462573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2013.034602 meters looking forward 0.000000 meters along route # Maximum depth: 2013.034602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1963.034602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376624; longitude = -174.251184; captureRadius = 10; duration = 218; initialDepth = 1958.875351; finalDepth = 1963.034602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1963.034602 # Seafloor depth:-2013.034602 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2008.875351 meters looking forward 0.000000 meters along route # Maximum depth: 2008.875351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1958.875351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377363; longitude = -174.251806; captureRadius = 10; duration = 218; initialDepth = 1949.230242; finalDepth = 1958.875351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1958.875351 # Seafloor depth:-2008.875351 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 1999.230242 meters looking forward 0.000000 meters along route # Maximum depth: 1999.230242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.230242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378070; longitude = -174.252401; captureRadius = 10; duration = 218; initialDepth = 1968.931537; finalDepth = 1949.230242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1949.230242 # Seafloor depth:-1999.230242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2018.931537 meters looking forward 0.000000 meters along route # Maximum depth: 2018.931537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1968.931537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378804; longitude = -174.253017; captureRadius = 10; duration = 218; initialDepth = 1970.047823; finalDepth = 1968.931537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1968.931537 # Seafloor depth:-2018.931537 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2020.047823 meters looking forward 0.000000 meters along route # Maximum depth: 2020.047823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1970.047823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379516; longitude = -174.253617; captureRadius = 10; duration = 218; initialDepth = 1978.040406; finalDepth = 1970.047823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1970.047823 # Seafloor depth:-2020.047823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2028.040406 meters looking forward 0.000000 meters along route # Maximum depth: 2028.040406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1978.040406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380244; longitude = -174.254229; captureRadius = 10; duration = 218; initialDepth = 1998.216023; finalDepth = 1978.040406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1978.040406 # Seafloor depth:-2028.040406 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2048.216023 meters looking forward 0.000000 meters along route # Maximum depth: 2048.216023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1998.216023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380962; longitude = -174.254833; captureRadius = 10; duration = 218; initialDepth = 2017.486078; finalDepth = 1998.216023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1998.216023 # Seafloor depth:-2048.216023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2067.486078 meters looking forward 0.000000 meters along route # Maximum depth: 2067.486078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.486078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381685; longitude = -174.255441; captureRadius = 10; duration = 218; initialDepth = 2038.170110; finalDepth = 2017.486078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2017.486078 # Seafloor depth:-2067.486078 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 109.024045 meters # Minimum depth: 2088.170110 meters looking forward 0.000000 meters along route # Maximum depth: 2088.170110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2038.170110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382460; longitude = -174.256092; captureRadius = 10; duration = 218; initialDepth = 2043.645142; finalDepth = 2038.170110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2038.17011 # Seafloor depth:-2088.170110 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 109.024045 meters # Minimum depth: 2093.645142 meters looking forward 0.000000 meters along route # Maximum depth: 2093.645142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.645142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383162; longitude = -174.256683; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1968.768463; finalDepth = 2043.645142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2043.645142 # Seafloor depth:-2093.645142 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 109.024045 meters # Minimum depth: 2018.768463 meters looking forward 0.000000 meters along route # Maximum depth: 2018.768463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1968.768463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384246; longitude = -174.255471; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1947.874628; finalDepth = 1968.768463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1968.768463 # Seafloor depth:-2018.768463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1997.874628 meters looking forward 0.000000 meters along route # Maximum depth: 1997.874628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.874628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383312; longitude = -174.254685; captureRadius = 10; duration = 218; initialDepth = 1922.553296; finalDepth = 1947.874628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1947.874628 # Seafloor depth:-1997.874628 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1972.553296 meters looking forward 0.000000 meters along route # Maximum depth: 1972.553296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1922.553296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382589; longitude = -174.254077; captureRadius = 10; duration = 218; initialDepth = 1911.142658; finalDepth = 1922.553296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1922.553296 # Seafloor depth:-1972.553296 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1961.142658 meters looking forward 0.000000 meters along route # Maximum depth: 1961.142658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.142658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381866; longitude = -174.253468; captureRadius = 10; duration = 218; initialDepth = 1881.979453; finalDepth = 1911.142658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1911.142658 # Seafloor depth:-1961.142658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1931.979453 meters looking forward 0.000000 meters along route # Maximum depth: 1931.979453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.979453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381143; longitude = -174.252860; captureRadius = 10; duration = 218; initialDepth = 1871.620250; finalDepth = 1881.979453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1881.979453 # Seafloor depth:-1931.979453 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1921.620250 meters looking forward 0.000000 meters along route # Maximum depth: 1921.620250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.620250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380420; longitude = -174.252251; captureRadius = 10; duration = 218; initialDepth = 1879.464330; finalDepth = 1871.620250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1871.62025 # Seafloor depth:-1921.620250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1929.464330 meters looking forward 0.000000 meters along route # Maximum depth: 1929.464330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.464330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379697; longitude = -174.251643; captureRadius = 10; duration = 218; initialDepth = 1894.317524; finalDepth = 1879.464330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1879.46433 # Seafloor depth:-1929.464330 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1944.317524 meters looking forward 0.000000 meters along route # Maximum depth: 1944.317524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1894.317524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378974; longitude = -174.251034; captureRadius = 10; duration = 218; initialDepth = 1891.206487; finalDepth = 1894.317524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1894.317524 # Seafloor depth:-1944.317524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1941.206487 meters looking forward 0.000000 meters along route # Maximum depth: 1941.206487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.206487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378230; longitude = -174.250408; captureRadius = 10; duration = 218; initialDepth = 1867.522845; finalDepth = 1891.206487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1891.206487 # Seafloor depth:-1941.206487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1917.522845 meters looking forward 0.000000 meters along route # Maximum depth: 1917.522845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.522845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377528; longitude = -174.249817; captureRadius = 10; duration = 218; initialDepth = 1834.603613; finalDepth = 1867.522845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1867.522845 # Seafloor depth:-1917.522845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1884.603613 meters looking forward 0.000000 meters along route # Maximum depth: 1884.603613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.603613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376791; longitude = -174.249197; captureRadius = 10; duration = 218; initialDepth = 1802.324034; finalDepth = 1834.603613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1834.603613 # Seafloor depth:-1884.603613 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1852.324034 meters looking forward 0.000000 meters along route # Maximum depth: 1852.324034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.324034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376082; longitude = -174.248601; captureRadius = 10; duration = 218; initialDepth = 1785.778849; finalDepth = 1802.324034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1802.324034 # Seafloor depth:-1852.324034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1835.778849 meters looking forward 0.000000 meters along route # Maximum depth: 1835.778849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.778849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375351; longitude = -174.247986; captureRadius = 10; duration = 218; initialDepth = 1766.311810; finalDepth = 1785.778849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1785.778849 # Seafloor depth:-1835.778849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1816.311810 meters looking forward 0.000000 meters along route # Maximum depth: 1816.311810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.311810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374636; longitude = -174.247384; captureRadius = 10; duration = 218; initialDepth = 1746.994508; finalDepth = 1766.311810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1766.31181 # Seafloor depth:-1816.311810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1796.994508 meters looking forward 0.000000 meters along route # Maximum depth: 1796.994508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.994508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373912; longitude = -174.246774; captureRadius = 10; duration = 218; initialDepth = 1729.836403; finalDepth = 1746.994508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.994508 # Seafloor depth:-1796.994508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1779.836403 meters looking forward 0.000000 meters along route # Maximum depth: 1779.836403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.836403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373190; longitude = -174.246167; captureRadius = 10; duration = 218; initialDepth = 1716.714805; finalDepth = 1729.836403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1729.836403 # Seafloor depth:-1779.836403 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1766.714805 meters looking forward 0.000000 meters along route # Maximum depth: 1766.714805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.714805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372467; longitude = -174.245558; captureRadius = 10; duration = 218; initialDepth = 1686.046363; finalDepth = 1716.714805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1716.714805 # Seafloor depth:-1766.714805 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1736.046363 meters looking forward 0.000000 meters along route # Maximum depth: 1736.046363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.046363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371744; longitude = -174.244950; captureRadius = 10; duration = 218; initialDepth = 1643.725968; finalDepth = 1686.046363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1686.046363 # Seafloor depth:-1736.046363 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1693.725968 meters looking forward 0.000000 meters along route # Maximum depth: 1693.725968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.725968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371021; longitude = -174.244341; captureRadius = 10; duration = 218; initialDepth = 1608.994400; finalDepth = 1643.725968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1643.725968 # Seafloor depth:-1693.725968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1658.994400 meters looking forward 0.000000 meters along route # Maximum depth: 1658.994400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.994400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370298; longitude = -174.243733; captureRadius = 10; duration = 218; initialDepth = 1582.764105; finalDepth = 1608.994400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1608.9944 # Seafloor depth:-1658.994400 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1632.764105 meters looking forward 0.000000 meters along route # Maximum depth: 1632.764105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.764105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369575; longitude = -174.243124; captureRadius = 10; duration = 218; initialDepth = 1559.283618; finalDepth = 1582.764105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1582.764105 # Seafloor depth:-1632.764105 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1609.283618 meters looking forward 0.000000 meters along route # Maximum depth: 1609.283618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.283618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368852; longitude = -174.242516; captureRadius = 10; duration = 218; initialDepth = 1521.939042; finalDepth = 1559.283618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1559.283618 # Seafloor depth:-1609.283618 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1571.939042 meters looking forward 0.000000 meters along route # Maximum depth: 1571.939042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.939042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368129; longitude = -174.241907; captureRadius = 10; duration = 218; initialDepth = 1486.530457; finalDepth = 1521.939042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1521.939042 # Seafloor depth:-1571.939042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1536.530457 meters looking forward 0.000000 meters along route # Maximum depth: 1536.530457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.530457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367406; longitude = -174.241299; captureRadius = 10; duration = 218; initialDepth = 1428.740171; finalDepth = 1486.530457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1486.530457 # Seafloor depth:-1536.530457 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1478.740171 meters looking forward 0.000000 meters along route # Maximum depth: 1478.740171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.740171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366683; longitude = -174.240690; captureRadius = 10; duration = 218; initialDepth = 1383.761625; finalDepth = 1428.740171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1428.740171 # Seafloor depth:-1478.740171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1433.761625 meters looking forward 0.000000 meters along route # Maximum depth: 1433.761625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.761625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365940; longitude = -174.240065; captureRadius = 10; duration = 218; initialDepth = 1401.152090; finalDepth = 1383.761625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1383.761625 # Seafloor depth:-1433.761625 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1451.152090 meters looking forward 0.000000 meters along route # Maximum depth: 1451.152090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.152090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365237; longitude = -174.239473; captureRadius = 10; duration = 218; initialDepth = 1441.248567; finalDepth = 1401.152090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1401.15209 # Seafloor depth:-1451.152090 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1491.248567 meters looking forward 0.000000 meters along route # Maximum depth: 1491.248567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.248567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364500; longitude = -174.238854; captureRadius = 10; duration = 218; initialDepth = 1478.881629; finalDepth = 1441.248567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1441.248567 # Seafloor depth:-1491.248567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1528.881629 meters looking forward 0.000000 meters along route # Maximum depth: 1528.881629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.881629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363790; longitude = -174.238256; captureRadius = 10; duration = 218; initialDepth = 1510.281332; finalDepth = 1478.881629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1478.881629 # Seafloor depth:-1528.881629 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1560.281332 meters looking forward 0.000000 meters along route # Maximum depth: 1560.281332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.281332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363061; longitude = -174.237642; captureRadius = 10; duration = 218; initialDepth = 1544.390209; finalDepth = 1510.281332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1510.281332 # Seafloor depth:-1560.281332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1594.390209 meters looking forward 0.000000 meters along route # Maximum depth: 1594.390209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.390209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362344; longitude = -174.237040; captureRadius = 10; duration = 218; initialDepth = 1574.656846; finalDepth = 1544.390209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1544.390209 # Seafloor depth:-1594.390209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1624.656846 meters looking forward 0.000000 meters along route # Maximum depth: 1624.656846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.656846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361621; longitude = -174.236431; captureRadius = 10; duration = 218; initialDepth = 1597.958013; finalDepth = 1574.656846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1574.656846 # Seafloor depth:-1624.656846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1647.958013 meters looking forward 0.000000 meters along route # Maximum depth: 1647.958013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.958013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360898; longitude = -174.235823; captureRadius = 10; duration = 218; initialDepth = 1628.645424; finalDepth = 1597.958013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1597.958013 # Seafloor depth:-1647.958013 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1678.645424 meters looking forward 0.000000 meters along route # Maximum depth: 1678.645424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.645424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360175; longitude = -174.235214; captureRadius = 10; duration = 218; initialDepth = 1638.434490; finalDepth = 1628.645424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1628.645424 # Seafloor depth:-1678.645424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1688.434490 meters looking forward 0.000000 meters along route # Maximum depth: 1688.434490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.434490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359452; longitude = -174.234606; captureRadius = 10; duration = 218; initialDepth = 1667.325281; finalDepth = 1638.434490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1638.43449 # Seafloor depth:-1688.434490 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1717.325281 meters looking forward 0.000000 meters along route # Maximum depth: 1717.325281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.325281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358729; longitude = -174.233997; captureRadius = 10; duration = 218; initialDepth = 1680.374641; finalDepth = 1667.325281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1667.325281 # Seafloor depth:-1717.325281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1730.374641 meters looking forward 0.000000 meters along route # Maximum depth: 1730.374641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.374641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358006; longitude = -174.233389; captureRadius = 10; duration = 218; initialDepth = 1683.903527; finalDepth = 1680.374641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1680.374641 # Seafloor depth:-1730.374641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1733.903527 meters looking forward 0.000000 meters along route # Maximum depth: 1733.903527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.903527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357283; longitude = -174.232780; captureRadius = 10; duration = 218; initialDepth = 1692.758361; finalDepth = 1683.903527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1683.903527 # Seafloor depth:-1733.903527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1742.758361 meters looking forward 0.000000 meters along route # Maximum depth: 1742.758361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.758361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356560; longitude = -174.232172; captureRadius = 10; duration = 218; initialDepth = 1687.628037; finalDepth = 1692.758361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1692.758361 # Seafloor depth:-1742.758361 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1737.628037 meters looking forward 0.000000 meters along route # Maximum depth: 1737.628037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.628037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355837; longitude = -174.231563; captureRadius = 10; duration = 218; initialDepth = 1711.576199; finalDepth = 1687.628037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1687.628037 # Seafloor depth:-1737.628037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1761.576199 meters looking forward 0.000000 meters along route # Maximum depth: 1761.576199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.576199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355114; longitude = -174.230955; captureRadius = 10; duration = 218; initialDepth = 1746.737956; finalDepth = 1711.576199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.576199 # Seafloor depth:-1761.576199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1796.737956 meters looking forward 0.000000 meters along route # Maximum depth: 1796.737956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.737956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354391; longitude = -174.230346; captureRadius = 10; duration = 218; initialDepth = 1748.920875; finalDepth = 1746.737956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.737956 # Seafloor depth:-1796.737956 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1798.920875 meters looking forward 0.000000 meters along route # Maximum depth: 1798.920875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.920875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353649; longitude = -174.229722; captureRadius = 10; duration = 218; initialDepth = 1783.015286; finalDepth = 1748.920875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1748.920875 # Seafloor depth:-1798.920875 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1833.015286 meters looking forward 0.000000 meters along route # Maximum depth: 1833.015286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.015286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352945; longitude = -174.229129; captureRadius = 10; duration = 218; initialDepth = 1826.356344; finalDepth = 1783.015286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1783.015286 # Seafloor depth:-1833.015286 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1876.356344 meters looking forward 0.000000 meters along route # Maximum depth: 1876.356344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.356344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352210; longitude = -174.228510; captureRadius = 10; duration = 218; initialDepth = 1829.301742; finalDepth = 1826.356344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.356344 # Seafloor depth:-1876.356344 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1879.301742 meters looking forward 0.000000 meters along route # Maximum depth: 1879.301742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.301742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.351499; longitude = -174.227912; captureRadius = 10; duration = 218; initialDepth = 1870.370073; finalDepth = 1829.301742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.301742 # Seafloor depth:-1879.301742 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1920.370073 meters looking forward 0.000000 meters along route # Maximum depth: 1920.370073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.370073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.350770; longitude = -174.227299; captureRadius = 10; duration = 218; initialDepth = 1903.699198; finalDepth = 1870.370073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1870.370073 # Seafloor depth:-1920.370073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1953.699198 meters looking forward 0.000000 meters along route # Maximum depth: 1953.699198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.699198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.350053; longitude = -174.226695; captureRadius = 10; duration = 218; initialDepth = 1941.097192; finalDepth = 1903.699198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1903.699198 # Seafloor depth:-1953.699198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 1991.097192 meters looking forward 0.000000 meters along route # Maximum depth: 1991.097192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.097192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.349330; longitude = -174.226087; captureRadius = 10; duration = 218; initialDepth = 1980.204127; finalDepth = 1941.097192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1941.097192 # Seafloor depth:-1991.097192 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 109.024045 meters # Minimum depth: 2030.204127 meters looking forward 0.000000 meters along route # Maximum depth: 2030.204127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1980.204127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.348556; longitude = -174.225435; captureRadius = 10; duration = 218; initialDepth = 2031.153748; finalDepth = 1980.204127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1980.204127 # Seafloor depth:-2030.204127 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 109.024045 meters # Minimum depth: 2081.153748 meters looking forward 0.000000 meters along route # Maximum depth: 2081.153748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2031.153748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.347854; longitude = -174.224845; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2102.539368; finalDepth = 2031.153748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2031.153748 # Seafloor depth:-2081.153748 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 109.024045 meters # Minimum depth: 2152.539368 meters looking forward 0.000000 meters along route # Maximum depth: 2152.539368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.539368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.348848; longitude = -174.223541; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2056.789896; finalDepth = 2102.539368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2102.539368 # Seafloor depth:-2152.539368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 2106.789896 meters looking forward 0.000000 meters along route # Maximum depth: 2106.789896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2056.789896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.349963; longitude = -174.224474; captureRadius = 10; duration = 218; initialDepth = 2015.358461; finalDepth = 2056.789896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2056.789896 # Seafloor depth:-2106.789896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 2065.358461 meters looking forward 0.000000 meters along route # Maximum depth: 2065.358461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.358461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.350686; longitude = -174.225080; captureRadius = 10; duration = 218; initialDepth = 1981.274639; finalDepth = 2015.358461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2015.358461 # Seafloor depth:-2065.358461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 2031.274639 meters looking forward 0.000000 meters along route # Maximum depth: 2031.274639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1981.274639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.351409; longitude = -174.225685; captureRadius = 10; duration = 218; initialDepth = 1954.863490; finalDepth = 1981.274639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1981.274639 # Seafloor depth:-2031.274639 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 2004.863490 meters looking forward 0.000000 meters along route # Maximum depth: 2004.863490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1954.863490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352132; longitude = -174.226291; captureRadius = 10; duration = 218; initialDepth = 1932.792151; finalDepth = 1954.863490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1954.86349 # Seafloor depth:-2004.863490 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1982.792151 meters looking forward 0.000000 meters along route # Maximum depth: 1982.792151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.792151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352855; longitude = -174.226896; captureRadius = 10; duration = 218; initialDepth = 1912.188722; finalDepth = 1932.792151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1932.792151 # Seafloor depth:-1982.792151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1962.188722 meters looking forward 0.000000 meters along route # Maximum depth: 1962.188722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.188722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353578; longitude = -174.227502; captureRadius = 10; duration = 218; initialDepth = 1874.368857; finalDepth = 1912.188722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1912.188722 # Seafloor depth:-1962.188722 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1924.368857 meters looking forward 0.000000 meters along route # Maximum depth: 1924.368857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.368857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354301; longitude = -174.228107; captureRadius = 10; duration = 218; initialDepth = 1850.809361; finalDepth = 1874.368857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1874.368857 # Seafloor depth:-1924.368857 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1900.809361 meters looking forward 0.000000 meters along route # Maximum depth: 1900.809361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1850.809361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355024; longitude = -174.228712; captureRadius = 10; duration = 218; initialDepth = 1810.192912; finalDepth = 1850.809361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1850.809361 # Seafloor depth:-1900.809361 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1860.192912 meters looking forward 0.000000 meters along route # Maximum depth: 1860.192912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.192912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355747; longitude = -174.229318; captureRadius = 10; duration = 218; initialDepth = 1775.250550; finalDepth = 1810.192912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1810.192912 # Seafloor depth:-1860.192912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1825.250550 meters looking forward 0.000000 meters along route # Maximum depth: 1825.250550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.250550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356470; longitude = -174.229923; captureRadius = 10; duration = 218; initialDepth = 1714.594486; finalDepth = 1775.250550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.25055 # Seafloor depth:-1825.250550 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1764.594486 meters looking forward 0.000000 meters along route # Maximum depth: 1764.594486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.594486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357193; longitude = -174.230529; captureRadius = 10; duration = 218; initialDepth = 1717.354606; finalDepth = 1714.594486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1714.594486 # Seafloor depth:-1764.594486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1767.354606 meters looking forward 0.000000 meters along route # Maximum depth: 1767.354606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.354606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357916; longitude = -174.231134; captureRadius = 10; duration = 218; initialDepth = 1683.139006; finalDepth = 1717.354606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1717.354606 # Seafloor depth:-1767.354606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1733.139006 meters looking forward 0.000000 meters along route # Maximum depth: 1733.139006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.139006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358639; longitude = -174.231740; captureRadius = 10; duration = 218; initialDepth = 1652.660411; finalDepth = 1683.139006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1683.139006 # Seafloor depth:-1733.139006 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1702.660411 meters looking forward 0.000000 meters along route # Maximum depth: 1702.660411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.660411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359362; longitude = -174.232345; captureRadius = 10; duration = 218; initialDepth = 1622.421158; finalDepth = 1652.660411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1652.660411 # Seafloor depth:-1702.660411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1672.421158 meters looking forward 0.000000 meters along route # Maximum depth: 1672.421158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.421158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360085; longitude = -174.232951; captureRadius = 10; duration = 218; initialDepth = 1594.348580; finalDepth = 1622.421158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1622.421158 # Seafloor depth:-1672.421158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1644.348580 meters looking forward 0.000000 meters along route # Maximum depth: 1644.348580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.348580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360808; longitude = -174.233556; captureRadius = 10; duration = 218; initialDepth = 1568.233031; finalDepth = 1594.348580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1594.34858 # Seafloor depth:-1644.348580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1618.233031 meters looking forward 0.000000 meters along route # Maximum depth: 1618.233031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.233031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361531; longitude = -174.234161; captureRadius = 10; duration = 218; initialDepth = 1546.995164; finalDepth = 1568.233031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1568.233031 # Seafloor depth:-1618.233031 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1596.995164 meters looking forward 0.000000 meters along route # Maximum depth: 1596.995164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.995164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362254; longitude = -174.234767; captureRadius = 10; duration = 218; initialDepth = 1528.721323; finalDepth = 1546.995164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1546.995164 # Seafloor depth:-1596.995164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1578.721323 meters looking forward 0.000000 meters along route # Maximum depth: 1578.721323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.721323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362977; longitude = -174.235372; captureRadius = 10; duration = 218; initialDepth = 1508.057614; finalDepth = 1528.721323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1528.721323 # Seafloor depth:-1578.721323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1558.057614 meters looking forward 0.000000 meters along route # Maximum depth: 1558.057614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.057614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363700; longitude = -174.235978; captureRadius = 10; duration = 218; initialDepth = 1467.713889; finalDepth = 1508.057614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1508.057614 # Seafloor depth:-1558.057614 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1517.713889 meters looking forward 0.000000 meters along route # Maximum depth: 1517.713889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.713889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364423; longitude = -174.236583; captureRadius = 10; duration = 218; initialDepth = 1432.578812; finalDepth = 1467.713889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1467.713889 # Seafloor depth:-1517.713889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1482.578812 meters looking forward 0.000000 meters along route # Maximum depth: 1482.578812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.578812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365146; longitude = -174.237189; captureRadius = 10; duration = 218; initialDepth = 1403.067980; finalDepth = 1432.578812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1432.578812 # Seafloor depth:-1482.578812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1453.067980 meters looking forward 0.000000 meters along route # Maximum depth: 1453.067980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.067980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365869; longitude = -174.237794; captureRadius = 10; duration = 218; initialDepth = 1381.558271; finalDepth = 1403.067980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1403.06798 # Seafloor depth:-1453.067980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1431.558271 meters looking forward 0.000000 meters along route # Maximum depth: 1431.558271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.558271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366592; longitude = -174.238400; captureRadius = 10; duration = 218; initialDepth = 1332.100364; finalDepth = 1381.558271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1381.558271 # Seafloor depth:-1431.558271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1382.100364 meters looking forward 0.000000 meters along route # Maximum depth: 1382.100364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1332.100364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367315; longitude = -174.239005; captureRadius = 10; duration = 218; initialDepth = 1374.565858; finalDepth = 1332.100364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1332.100364 # Seafloor depth:-1382.100364 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1424.565858 meters looking forward 0.000000 meters along route # Maximum depth: 1424.565858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.565858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368038; longitude = -174.239611; captureRadius = 10; duration = 218; initialDepth = 1419.495111; finalDepth = 1374.565858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1374.565858 # Seafloor depth:-1424.565858 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1469.495111 meters looking forward 0.000000 meters along route # Maximum depth: 1469.495111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.495111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368761; longitude = -174.240216; captureRadius = 10; duration = 218; initialDepth = 1466.697348; finalDepth = 1419.495111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1419.495111 # Seafloor depth:-1469.495111 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1516.697348 meters looking forward 0.000000 meters along route # Maximum depth: 1516.697348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.697348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369484; longitude = -174.240821; captureRadius = 10; duration = 218; initialDepth = 1466.835439; finalDepth = 1466.697348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1466.697348 # Seafloor depth:-1516.697348 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1516.835439 meters looking forward 0.000000 meters along route # Maximum depth: 1516.835439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.835439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370207; longitude = -174.241427; captureRadius = 10; duration = 218; initialDepth = 1487.482971; finalDepth = 1466.835439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1466.835439 # Seafloor depth:-1516.835439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1537.482971 meters looking forward 0.000000 meters along route # Maximum depth: 1537.482971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.482971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370930; longitude = -174.242032; captureRadius = 10; duration = 218; initialDepth = 1526.725798; finalDepth = 1487.482971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1487.482971 # Seafloor depth:-1537.482971 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1576.725798 meters looking forward 0.000000 meters along route # Maximum depth: 1576.725798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.725798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371653; longitude = -174.242638; captureRadius = 10; duration = 218; initialDepth = 1564.165033; finalDepth = 1526.725798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1526.725798 # Seafloor depth:-1576.725798 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1614.165033 meters looking forward 0.000000 meters along route # Maximum depth: 1614.165033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.165033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372376; longitude = -174.243243; captureRadius = 10; duration = 218; initialDepth = 1585.225310; finalDepth = 1564.165033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1564.165033 # Seafloor depth:-1614.165033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1635.225310 meters looking forward 0.000000 meters along route # Maximum depth: 1635.225310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.225310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373099; longitude = -174.243849; captureRadius = 10; duration = 218; initialDepth = 1590.078702; finalDepth = 1585.225310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1585.22531 # Seafloor depth:-1635.225310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1640.078702 meters looking forward 0.000000 meters along route # Maximum depth: 1640.078702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.078702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373823; longitude = -174.244454; captureRadius = 10; duration = 218; initialDepth = 1611.759964; finalDepth = 1590.078702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1590.078702 # Seafloor depth:-1640.078702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1661.759964 meters looking forward 0.000000 meters along route # Maximum depth: 1661.759964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.759964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374546; longitude = -174.245060; captureRadius = 10; duration = 218; initialDepth = 1622.123848; finalDepth = 1611.759964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1611.759964 # Seafloor depth:-1661.759964 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1672.123848 meters looking forward 0.000000 meters along route # Maximum depth: 1672.123848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.123848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375269; longitude = -174.245665; captureRadius = 10; duration = 218; initialDepth = 1665.364113; finalDepth = 1622.123848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1622.123848 # Seafloor depth:-1672.123848 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1715.364113 meters looking forward 0.000000 meters along route # Maximum depth: 1715.364113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.364113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375992; longitude = -174.246271; captureRadius = 10; duration = 218; initialDepth = 1690.271708; finalDepth = 1665.364113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1665.364113 # Seafloor depth:-1715.364113 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1740.271708 meters looking forward 0.000000 meters along route # Maximum depth: 1740.271708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.271708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376715; longitude = -174.246876; captureRadius = 10; duration = 218; initialDepth = 1742.830476; finalDepth = 1690.271708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1690.271708 # Seafloor depth:-1740.271708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1815.880270 meters looking forward 0.000000 meters along route # Maximum depth: 1815.880270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.830476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377438; longitude = -174.247481; captureRadius = 10; duration = 218; initialDepth = 1747.504254; finalDepth = 1742.830476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0497941442343 # Actual altitude: 73.0497941442343 # Commanded vehicle depth:1742.83047585577 # Seafloor depth:-1815.880270 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.83; MB_Bottom_Detect_Filter_Max_Range = 292.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1797.504254 meters looking forward 0.000000 meters along route # Maximum depth: 1797.504254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.504254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378161; longitude = -174.248087; captureRadius = 10; duration = 218; initialDepth = 1788.499170; finalDepth = 1747.504254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0497941442343 # Actual altitude: 73.0497941442343 # Commanded vehicle depth:1747.504254 # Seafloor depth:-1797.504254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 292.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.83; MB_Bottom_Detect_Filter_Max_Range = 292.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1838.499170 meters looking forward 0.000000 meters along route # Maximum depth: 1838.499170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.499170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378884; longitude = -174.248692; captureRadius = 10; duration = 218; initialDepth = 1812.070455; finalDepth = 1788.499170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1788.49917 # Seafloor depth:-1838.499170 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1862.070455 meters looking forward 0.000000 meters along route # Maximum depth: 1862.070455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.070455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379607; longitude = -174.249298; captureRadius = 10; duration = 218; initialDepth = 1829.176823; finalDepth = 1812.070455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1812.070455 # Seafloor depth:-1862.070455 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1879.176823 meters looking forward 0.000000 meters along route # Maximum depth: 1879.176823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.176823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380330; longitude = -174.249903; captureRadius = 10; duration = 218; initialDepth = 1824.745099; finalDepth = 1829.176823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.176823 # Seafloor depth:-1879.176823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1874.745099 meters looking forward 0.000000 meters along route # Maximum depth: 1874.745099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.745099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381053; longitude = -174.250509; captureRadius = 10; duration = 218; initialDepth = 1849.874907; finalDepth = 1824.745099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.745099 # Seafloor depth:-1874.745099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1899.874907 meters looking forward 0.000000 meters along route # Maximum depth: 1899.874907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.874907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381776; longitude = -174.251114; captureRadius = 10; duration = 218; initialDepth = 1863.345414; finalDepth = 1849.874907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1849.874907 # Seafloor depth:-1899.874907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1913.345414 meters looking forward 0.000000 meters along route # Maximum depth: 1913.345414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.345414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382499; longitude = -174.251720; captureRadius = 10; duration = 218; initialDepth = 1887.167980; finalDepth = 1863.345414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1863.345414 # Seafloor depth:-1913.345414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1937.167980 meters looking forward 0.000000 meters along route # Maximum depth: 1937.167980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.167980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383222; longitude = -174.252325; captureRadius = 10; duration = 218; initialDepth = 1882.455977; finalDepth = 1887.167980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1887.16798 # Seafloor depth:-1937.167980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1932.455977 meters looking forward 0.000000 meters along route # Maximum depth: 1932.455977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.455977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383945; longitude = -174.252930; captureRadius = 10; duration = 218; initialDepth = 1891.016029; finalDepth = 1882.455977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1882.455977 # Seafloor depth:-1932.455977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 109.024045 meters # Minimum depth: 1941.016029 meters looking forward 0.000000 meters along route # Maximum depth: 1941.016029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.016029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384716; longitude = -174.253576; captureRadius = 10; duration = 218; initialDepth = 1881.033529; finalDepth = 1891.016029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1891.016029 # Seafloor depth:-1941.016029 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 109.024045 meters # Minimum depth: 1931.033529 meters looking forward 0.000000 meters along route # Maximum depth: 1931.033529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1881.033529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385421; longitude = -174.254167; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1826.119954; finalDepth = 1881.033529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1881.033529 # Seafloor depth:-1931.033529 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 109.024045 meters # Minimum depth: 1876.119954 meters looking forward 0.000000 meters along route # Maximum depth: 1876.119954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.119954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386445; longitude = -174.252893; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1845.124486; finalDepth = 1826.119954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.119954 # Seafloor depth:-1876.119954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1895.124486 meters looking forward 0.000000 meters along route # Maximum depth: 1895.124486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.124486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385391; longitude = -174.252018; captureRadius = 10; duration = 218; initialDepth = 1844.022983; finalDepth = 1845.124486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1845.124486 # Seafloor depth:-1895.124486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1894.022983 meters looking forward 0.000000 meters along route # Maximum depth: 1894.022983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.022983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384668; longitude = -174.251417; captureRadius = 10; duration = 218; initialDepth = 1845.078199; finalDepth = 1844.022983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1844.022983 # Seafloor depth:-1894.022983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1895.078199 meters looking forward 0.000000 meters along route # Maximum depth: 1895.078199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.078199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383945; longitude = -174.250817; captureRadius = 10; duration = 218; initialDepth = 1847.410113; finalDepth = 1845.078199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1845.078199 # Seafloor depth:-1895.078199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1897.410113 meters looking forward 0.000000 meters along route # Maximum depth: 1897.410113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.410113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383222; longitude = -174.250216; captureRadius = 10; duration = 218; initialDepth = 1842.340442; finalDepth = 1847.410113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1847.410113 # Seafloor depth:-1897.410113 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1892.340442 meters looking forward 0.000000 meters along route # Maximum depth: 1892.340442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.340442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382499; longitude = -174.249616; captureRadius = 10; duration = 218; initialDepth = 1837.009174; finalDepth = 1842.340442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.340442 # Seafloor depth:-1892.340442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1887.009174 meters looking forward 0.000000 meters along route # Maximum depth: 1887.009174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.009174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381770; longitude = -174.249011; captureRadius = 10; duration = 218; initialDepth = 1843.288445; finalDepth = 1837.009174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1837.009174 # Seafloor depth:-1887.009174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1893.288445 meters looking forward 0.000000 meters along route # Maximum depth: 1893.288445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.288445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381053; longitude = -174.248415; captureRadius = 10; duration = 218; initialDepth = 1837.295831; finalDepth = 1843.288445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1843.288445 # Seafloor depth:-1893.288445 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1887.295831 meters looking forward 0.000000 meters along route # Maximum depth: 1887.295831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.295831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380311; longitude = -174.247799; captureRadius = 10; duration = 218; initialDepth = 1840.367367; finalDepth = 1837.295831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1837.295831 # Seafloor depth:-1887.295831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1890.367367 meters looking forward 0.000000 meters along route # Maximum depth: 1890.367367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.367367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379607; longitude = -174.247214; captureRadius = 10; duration = 218; initialDepth = 1820.907238; finalDepth = 1840.367367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1840.367367 # Seafloor depth:-1890.367367 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1870.907238 meters looking forward 0.000000 meters along route # Maximum depth: 1870.907238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.907238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378884; longitude = -174.246614; captureRadius = 10; duration = 218; initialDepth = 1776.771833; finalDepth = 1820.907238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1820.907238 # Seafloor depth:-1870.907238 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1826.771833 meters looking forward 0.000000 meters along route # Maximum depth: 1826.771833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.771833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378161; longitude = -174.246013; captureRadius = 10; duration = 218; initialDepth = 1699.826325; finalDepth = 1776.771833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.771833 # Seafloor depth:-1826.771833 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1749.826325 meters looking forward 0.000000 meters along route # Maximum depth: 1749.826325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.826325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377438; longitude = -174.245413; captureRadius = 10; duration = 218; initialDepth = 1676.956479; finalDepth = 1699.826325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.826325 # Seafloor depth:-1749.826325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1726.956479 meters looking forward 0.000000 meters along route # Maximum depth: 1726.956479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.956479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376715; longitude = -174.244813; captureRadius = 10; duration = 218; initialDepth = 1646.664816; finalDepth = 1676.956479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1676.956479 # Seafloor depth:-1726.956479 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1696.664816 meters looking forward 0.000000 meters along route # Maximum depth: 1696.664816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.664816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375992; longitude = -174.244212; captureRadius = 10; duration = 218; initialDepth = 1636.163471; finalDepth = 1646.664816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1646.664816 # Seafloor depth:-1696.664816 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1686.163471 meters looking forward 0.000000 meters along route # Maximum depth: 1686.163471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.163471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375262; longitude = -174.243606; captureRadius = 10; duration = 218; initialDepth = 1620.559658; finalDepth = 1636.163471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1636.163471 # Seafloor depth:-1686.163471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1670.559658 meters looking forward 0.000000 meters along route # Maximum depth: 1670.559658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.559658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374546; longitude = -174.243011; captureRadius = 10; duration = 218; initialDepth = 1607.149865; finalDepth = 1620.559658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1620.559658 # Seafloor depth:-1670.559658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1657.149865 meters looking forward 0.000000 meters along route # Maximum depth: 1657.149865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.149865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373803; longitude = -174.242395; captureRadius = 10; duration = 218; initialDepth = 1609.547807; finalDepth = 1607.149865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1607.149865 # Seafloor depth:-1657.149865 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1659.547807 meters looking forward 0.000000 meters along route # Maximum depth: 1659.547807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.547807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373099; longitude = -174.241810; captureRadius = 10; duration = 218; initialDepth = 1579.729471; finalDepth = 1609.547807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1609.547807 # Seafloor depth:-1659.547807 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1629.729471 meters looking forward 0.000000 meters along route # Maximum depth: 1629.729471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.729471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372376; longitude = -174.241210; captureRadius = 10; duration = 218; initialDepth = 1545.234654; finalDepth = 1579.729471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1579.729471 # Seafloor depth:-1629.729471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1595.234654 meters looking forward 0.000000 meters along route # Maximum depth: 1595.234654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.234654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371653; longitude = -174.240610; captureRadius = 10; duration = 218; initialDepth = 1495.876094; finalDepth = 1545.234654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1545.234654 # Seafloor depth:-1595.234654 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1545.876094 meters looking forward 0.000000 meters along route # Maximum depth: 1545.876094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.876094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370930; longitude = -174.240009; captureRadius = 10; duration = 218; initialDepth = 1427.997933; finalDepth = 1495.876094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1495.876094 # Seafloor depth:-1545.876094 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1477.997933 meters looking forward 0.000000 meters along route # Maximum depth: 1477.997933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.997933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370207; longitude = -174.239409; captureRadius = 10; duration = 218; initialDepth = 1359.266484; finalDepth = 1427.997933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1427.997933 # Seafloor depth:-1477.997933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1409.266484 meters looking forward 0.000000 meters along route # Maximum depth: 1409.266484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.266484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369484; longitude = -174.238808; captureRadius = 10; duration = 218; initialDepth = 1334.022815; finalDepth = 1359.266484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1359.266484 # Seafloor depth:-1409.266484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1384.022815 meters looking forward 0.000000 meters along route # Maximum depth: 1384.022815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.022815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368753; longitude = -174.238201; captureRadius = 10; duration = 218; initialDepth = 1372.175085; finalDepth = 1334.022815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1334.022815 # Seafloor depth:-1384.022815 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1422.175085 meters looking forward 0.000000 meters along route # Maximum depth: 1422.175085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.175085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368038; longitude = -174.237607; captureRadius = 10; duration = 218; initialDepth = 1424.561830; finalDepth = 1372.175085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1372.175085 # Seafloor depth:-1422.175085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1478.823128 meters looking forward 0.000000 meters along route # Maximum depth: 1478.823128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.561830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367315; longitude = -174.237007; captureRadius = 10; duration = 218; initialDepth = 1476.948669; finalDepth = 1424.561830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2612980659194 # Actual altitude: 54.2612980659194 # Commanded vehicle depth:1424.56182993408 # Seafloor depth:-1478.823128 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.56; MB_Bottom_Detect_Filter_Max_Range = 217.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1533.601772 meters looking forward 0.000000 meters along route # Maximum depth: 1533.601772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.948669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366592; longitude = -174.236407; captureRadius = 10; duration = 218; initialDepth = 1529.335602; finalDepth = 1476.948669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.653102869634 # Actual altitude: 56.653102869634 # Commanded vehicle depth:1476.94866913037 # Seafloor depth:-1533.601772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.99; MB_Bottom_Detect_Filter_Max_Range = 226.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1589.095174 meters looking forward 0.000000 meters along route # Maximum depth: 1589.095174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.335602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365869; longitude = -174.235806; captureRadius = 10; duration = 218; initialDepth = 1564.793492; finalDepth = 1529.335602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7595719206656 # Actual altitude: 59.7595719206656 # Commanded vehicle depth:1529.33560207933 # Seafloor depth:-1589.095174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 239.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 239.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1614.793492 meters looking forward 0.000000 meters along route # Maximum depth: 1614.793492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.793492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365146; longitude = -174.235206; captureRadius = 10; duration = 218; initialDepth = 1599.659419; finalDepth = 1564.793492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7595719206656 # Actual altitude: 59.7595719206656 # Commanded vehicle depth:1564.793492 # Seafloor depth:-1614.793492 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 239.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.86; MB_Bottom_Detect_Filter_Max_Range = 239.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1649.659419 meters looking forward 0.000000 meters along route # Maximum depth: 1649.659419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.659419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364423; longitude = -174.234605; captureRadius = 10; duration = 218; initialDepth = 1624.571025; finalDepth = 1599.659419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1599.659419 # Seafloor depth:-1649.659419 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1674.571025 meters looking forward 0.000000 meters along route # Maximum depth: 1674.571025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.571025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363700; longitude = -174.234005; captureRadius = 10; duration = 218; initialDepth = 1653.751803; finalDepth = 1624.571025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1624.571025 # Seafloor depth:-1674.571025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1703.751803 meters looking forward 0.000000 meters along route # Maximum depth: 1703.751803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.751803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362977; longitude = -174.233405; captureRadius = 10; duration = 218; initialDepth = 1679.522759; finalDepth = 1653.751803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1653.751803 # Seafloor depth:-1703.751803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1729.522759 meters looking forward 0.000000 meters along route # Maximum depth: 1729.522759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.522759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362245; longitude = -174.232797; captureRadius = 10; duration = 218; initialDepth = 1691.409932; finalDepth = 1679.522759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1679.522759 # Seafloor depth:-1729.522759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1741.409932 meters looking forward 0.000000 meters along route # Maximum depth: 1741.409932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.409932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361531; longitude = -174.232204; captureRadius = 10; duration = 218; initialDepth = 1726.831523; finalDepth = 1691.409932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1691.409932 # Seafloor depth:-1741.409932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1776.831523 meters looking forward 0.000000 meters along route # Maximum depth: 1776.831523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.831523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360808; longitude = -174.231603; captureRadius = 10; duration = 218; initialDepth = 1761.565268; finalDepth = 1726.831523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1726.831523 # Seafloor depth:-1776.831523 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1811.565268 meters looking forward 0.000000 meters along route # Maximum depth: 1811.565268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.565268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360085; longitude = -174.231003; captureRadius = 10; duration = 218; initialDepth = 1785.030580; finalDepth = 1761.565268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.565268 # Seafloor depth:-1811.565268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1835.030580 meters looking forward 0.000000 meters along route # Maximum depth: 1835.030580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.030580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359362; longitude = -174.230402; captureRadius = 10; duration = 218; initialDepth = 1802.156354; finalDepth = 1785.030580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1785.03058 # Seafloor depth:-1835.030580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1852.156354 meters looking forward 0.000000 meters along route # Maximum depth: 1852.156354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.156354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358639; longitude = -174.229802; captureRadius = 10; duration = 218; initialDepth = 1825.707961; finalDepth = 1802.156354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1802.156354 # Seafloor depth:-1852.156354 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1875.707961 meters looking forward 0.000000 meters along route # Maximum depth: 1875.707961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.707961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357916; longitude = -174.229202; captureRadius = 10; duration = 218; initialDepth = 1833.790152; finalDepth = 1825.707961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.707961 # Seafloor depth:-1875.707961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1883.790152 meters looking forward 0.000000 meters along route # Maximum depth: 1883.790152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.790152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357193; longitude = -174.228601; captureRadius = 10; duration = 218; initialDepth = 1853.977761; finalDepth = 1833.790152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1833.790152 # Seafloor depth:-1883.790152 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1903.977761 meters looking forward 0.000000 meters along route # Maximum depth: 1903.977761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.977761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356470; longitude = -174.228001; captureRadius = 10; duration = 218; initialDepth = 1898.127506; finalDepth = 1853.977761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1853.977761 # Seafloor depth:-1903.977761 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 1948.127506 meters looking forward 0.000000 meters along route # Maximum depth: 1948.127506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.127506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355737; longitude = -174.227392; captureRadius = 10; duration = 218; initialDepth = 1949.803280; finalDepth = 1898.127506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1898.127506 # Seafloor depth:-1948.127506 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 2017.614257 meters looking forward 0.000000 meters along route # Maximum depth: 2017.614257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.803280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355024; longitude = -174.226800; captureRadius = 10; duration = 218; initialDepth = 1989.302210; finalDepth = 1949.803280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8109774829984 # Actual altitude: 67.8109774829984 # Commanded vehicle depth:1949.803279517 # Seafloor depth:-2017.614257 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.69; MB_Bottom_Detect_Filter_Max_Range = 271.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 2039.302210 meters looking forward 0.000000 meters along route # Maximum depth: 2039.302210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1989.302210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354301; longitude = -174.226200; captureRadius = 10; duration = 218; initialDepth = 2010.322564; finalDepth = 1989.302210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8109774829984 # Actual altitude: 67.8109774829984 # Commanded vehicle depth:1989.30221 # Seafloor depth:-2039.302210 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.69; MB_Bottom_Detect_Filter_Max_Range = 271.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 2060.322564 meters looking forward 0.000000 meters along route # Maximum depth: 2060.322564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.322564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353578; longitude = -174.225599; captureRadius = 10; duration = 218; initialDepth = 2028.321859; finalDepth = 2010.322564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2010.322564 # Seafloor depth:-2060.322564 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 109.024045 meters # Minimum depth: 2078.321859 meters looking forward 0.000000 meters along route # Maximum depth: 2078.321859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2028.321859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352819; longitude = -174.224969; captureRadius = 10; duration = 218; initialDepth = 2047.762329; finalDepth = 2028.321859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2028.321859 # Seafloor depth:-2078.321859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 109.024045 meters # Minimum depth: 2097.762329 meters looking forward 0.000000 meters along route # Maximum depth: 2097.762329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.762329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352071; longitude = -174.224348; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2062.825684; finalDepth = 2047.762329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2047.762329 # Seafloor depth:-2097.762329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 109.024045 meters # Minimum depth: 2112.825684 meters looking forward 0.000000 meters along route # Maximum depth: 2112.825684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.825684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352252; longitude = -174.223603; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2050.337402; finalDepth = 2062.825684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2062.825684 # Seafloor depth:-2112.825684 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.024045 meters # Minimum depth: 2100.337402 meters looking forward 0.000000 meters along route # Maximum depth: 2100.337402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.337402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353035; longitude = -174.223539; captureRadius = 10; duration = 218; initialDepth = 2021.267729; finalDepth = 2050.337402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2050.337402 # Seafloor depth:-2100.337402 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.024045 meters # Minimum depth: 2071.267729 meters looking forward 0.000000 meters along route # Maximum depth: 2071.267729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2021.267729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353939; longitude = -174.223466; captureRadius = 10; duration = 218; initialDepth = 1993.693037; finalDepth = 2021.267729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2021.267729 # Seafloor depth:-2071.267729 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.024045 meters # Minimum depth: 2043.693037 meters looking forward 0.000000 meters along route # Maximum depth: 2043.693037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.693037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354843; longitude = -174.223393; captureRadius = 10; duration = 218; initialDepth = 1946.859294; finalDepth = 1993.693037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1993.693037 # Seafloor depth:-2043.693037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.024045 meters # Minimum depth: 1996.859294 meters looking forward 0.000000 meters along route # Maximum depth: 1996.859294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1946.859294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355747; longitude = -174.223319; captureRadius = 10; duration = 218; initialDepth = 1872.850301; finalDepth = 1946.859294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1946.859294 # Seafloor depth:-1996.859294 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.024045 meters # Minimum depth: 1922.850301 meters looking forward 0.000000 meters along route # Maximum depth: 1922.850301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.850301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356651; longitude = -174.223246; captureRadius = 10; duration = 218; initialDepth = 1846.055990; finalDepth = 1872.850301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1872.850301 # Seafloor depth:-1922.850301 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 109.024045 meters # Minimum depth: 1896.055990 meters looking forward 0.000000 meters along route # Maximum depth: 1896.055990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.055990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357615; longitude = -174.223168; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1927.170160; finalDepth = 1846.055990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1846.05599 # Seafloor depth:-1896.055990 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.024045 meters # Minimum depth: 1977.170160 meters looking forward 0.000000 meters along route # Maximum depth: 1977.170160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1927.170160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357918; longitude = -174.221708; captureRadius = 10; duration = 218; initialDepth = 1979.340650; finalDepth = 1927.170160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1927.17016 # Seafloor depth:-1977.170160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.024045 meters # Minimum depth: 2029.509867 meters looking forward 0.000000 meters along route # Maximum depth: 2029.509867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1979.340650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358112; longitude = -174.220776; captureRadius = 10; duration = 218; initialDepth = 2006.631179; finalDepth = 1979.340650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1692168909967 # Actual altitude: 50.1692168909967 # Commanded vehicle depth:1979.340650109 # Seafloor depth:-2029.509867 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.024045 meters # Minimum depth: 2056.631179 meters looking forward 0.000000 meters along route # Maximum depth: 2056.631179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.631179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358305; longitude = -174.219844; captureRadius = 10; duration = 218; initialDepth = 2002.769665; finalDepth = 2006.631179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1692168909967 # Actual altitude: 50.1692168909967 # Commanded vehicle depth:2006.631179 # Seafloor depth:-2056.631179 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.024045 meters # Minimum depth: 2052.769665 meters looking forward 0.000000 meters along route # Maximum depth: 2052.769665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.769665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358499; longitude = -174.218913; captureRadius = 10; duration = 218; initialDepth = 2029.169596; finalDepth = 2002.769665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2002.769665 # Seafloor depth:-2052.769665 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 109.024045 meters # Minimum depth: 2079.169596 meters looking forward 0.000000 meters along route # Maximum depth: 2079.169596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.169596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358699; longitude = -174.217950; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1996.864519; finalDepth = 2029.169596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2029.169596 # Seafloor depth:-2079.169596 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.024045 meters # Minimum depth: 2046.864519 meters looking forward 0.000000 meters along route # Maximum depth: 2046.864519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.864519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357735; longitude = -174.218712; captureRadius = 10; duration = 218; initialDepth = 2029.613614; finalDepth = 1996.864519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1996.864519 # Seafloor depth:-2046.864519 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.024045 meters # Minimum depth: 2079.613614 meters looking forward 0.000000 meters along route # Maximum depth: 2079.613614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.613614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357011; longitude = -174.219285; captureRadius = 10; duration = 218; initialDepth = 2042.274136; finalDepth = 2029.613614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2029.613614 # Seafloor depth:-2079.613614 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.024045 meters # Minimum depth: 2092.274136 meters looking forward 0.000000 meters along route # Maximum depth: 2092.274136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2042.274136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356289; longitude = -174.219856; captureRadius = 10; duration = 218; initialDepth = 2017.450589; finalDepth = 2042.274136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2042.274136 # Seafloor depth:-2092.274136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.024045 meters # Minimum depth: 2067.450589 meters looking forward 0.000000 meters along route # Maximum depth: 2067.450589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.450589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355566; longitude = -174.220428; captureRadius = 10; duration = 218; initialDepth = 2017.700398; finalDepth = 2017.450589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2017.450589 # Seafloor depth:-2067.450589 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.024045 meters # Minimum depth: 2067.700398 meters looking forward 0.000000 meters along route # Maximum depth: 2067.700398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2017.700398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354843; longitude = -174.221000; captureRadius = 10; duration = 218; initialDepth = 2018.994926; finalDepth = 2017.700398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2017.700398 # Seafloor depth:-2067.700398 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.024045 meters # Minimum depth: 2068.994926 meters looking forward 0.000000 meters along route # Maximum depth: 2068.994926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2018.994926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354120; longitude = -174.221572; captureRadius = 10; duration = 218; initialDepth = 2027.928568; finalDepth = 2018.994926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2018.994926 # Seafloor depth:-2068.994926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.024045 meters # Minimum depth: 2077.928568 meters looking forward 0.000000 meters along route # Maximum depth: 2077.928568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.928568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353360; longitude = -174.222174; captureRadius = 10; duration = 218; initialDepth = 2045.264323; finalDepth = 2027.928568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2027.928568 # Seafloor depth:-2077.928568 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 109.024045 meters # Minimum depth: 2095.264323 meters looking forward 0.000000 meters along route # Maximum depth: 2095.264323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2045.264323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352614; longitude = -174.222764; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2029.043996; finalDepth = 2045.264323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2045.264323 # Seafloor depth:-2095.264323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 2079.043996 meters looking forward 0.000000 meters along route # Maximum depth: 2079.043996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2029.043996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353668; longitude = -174.223639; captureRadius = 10; duration = 218; initialDepth = 2010.158494; finalDepth = 2029.043996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2029.043996 # Seafloor depth:-2079.043996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 2060.158494 meters looking forward 0.000000 meters along route # Maximum depth: 2060.158494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.158494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354391; longitude = -174.224239; captureRadius = 10; duration = 218; initialDepth = 1991.966850; finalDepth = 2010.158494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2010.158494 # Seafloor depth:-2060.158494 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 2041.966850 meters looking forward 0.000000 meters along route # Maximum depth: 2041.966850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.966850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355114; longitude = -174.224838; captureRadius = 10; duration = 218; initialDepth = 1990.054416; finalDepth = 1991.966850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1991.96685 # Seafloor depth:-2041.966850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 2040.054416 meters looking forward 0.000000 meters along route # Maximum depth: 2040.054416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1990.054416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355837; longitude = -174.225438; captureRadius = 10; duration = 218; initialDepth = 1957.914491; finalDepth = 1990.054416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1990.054416 # Seafloor depth:-2040.054416 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 2007.914491 meters looking forward 0.000000 meters along route # Maximum depth: 2007.914491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1957.914491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356560; longitude = -174.226038; captureRadius = 10; duration = 218; initialDepth = 1941.376149; finalDepth = 1957.914491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1957.914491 # Seafloor depth:-2007.914491 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1991.376149 meters looking forward 0.000000 meters along route # Maximum depth: 1991.376149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1941.376149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357294; longitude = -174.226647; captureRadius = 10; duration = 218; initialDepth = 1931.974164; finalDepth = 1941.376149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1941.376149 # Seafloor depth:-1991.376149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1981.974164 meters looking forward 0.000000 meters along route # Maximum depth: 1981.974164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.974164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358006; longitude = -174.227238; captureRadius = 10; duration = 218; initialDepth = 1916.173624; finalDepth = 1931.974164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1931.974164 # Seafloor depth:-1981.974164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1966.173624 meters looking forward 0.000000 meters along route # Maximum depth: 1966.173624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.173624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358729; longitude = -174.227837; captureRadius = 10; duration = 218; initialDepth = 1894.715652; finalDepth = 1916.173624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1916.173624 # Seafloor depth:-1966.173624 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1944.715652 meters looking forward 0.000000 meters along route # Maximum depth: 1944.715652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1894.715652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359452; longitude = -174.228437; captureRadius = 10; duration = 218; initialDepth = 1871.953937; finalDepth = 1894.715652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1894.715652 # Seafloor depth:-1944.715652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1921.953937 meters looking forward 0.000000 meters along route # Maximum depth: 1921.953937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.953937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360175; longitude = -174.229037; captureRadius = 10; duration = 218; initialDepth = 1848.947934; finalDepth = 1871.953937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1871.953937 # Seafloor depth:-1921.953937 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1898.947934 meters looking forward 0.000000 meters along route # Maximum depth: 1898.947934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.947934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360898; longitude = -174.229637; captureRadius = 10; duration = 218; initialDepth = 1824.593175; finalDepth = 1848.947934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.947934 # Seafloor depth:-1898.947934 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1874.593175 meters looking forward 0.000000 meters along route # Maximum depth: 1874.593175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.593175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361621; longitude = -174.230237; captureRadius = 10; duration = 218; initialDepth = 1795.678240; finalDepth = 1824.593175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.593175 # Seafloor depth:-1874.593175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1845.678240 meters looking forward 0.000000 meters along route # Maximum depth: 1845.678240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.678240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362349; longitude = -174.230840; captureRadius = 10; duration = 218; initialDepth = 1775.520868; finalDepth = 1795.678240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.67824 # Seafloor depth:-1845.678240 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1825.520868 meters looking forward 0.000000 meters along route # Maximum depth: 1825.520868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.520868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363067; longitude = -174.231436; captureRadius = 10; duration = 218; initialDepth = 1751.125585; finalDepth = 1775.520868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.520868 # Seafloor depth:-1825.520868 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1801.125585 meters looking forward 0.000000 meters along route # Maximum depth: 1801.125585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.125585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363809; longitude = -174.232051; captureRadius = 10; duration = 218; initialDepth = 1716.284959; finalDepth = 1751.125585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1751.125585 # Seafloor depth:-1801.125585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1766.284959 meters looking forward 0.000000 meters along route # Maximum depth: 1766.284959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.284959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364513; longitude = -174.232636; captureRadius = 10; duration = 218; initialDepth = 1686.172486; finalDepth = 1716.284959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1716.284959 # Seafloor depth:-1766.284959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1736.172486 meters looking forward 0.000000 meters along route # Maximum depth: 1736.172486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.172486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365237; longitude = -174.233236; captureRadius = 10; duration = 218; initialDepth = 1647.326432; finalDepth = 1686.172486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1686.172486 # Seafloor depth:-1736.172486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1697.326432 meters looking forward 0.000000 meters along route # Maximum depth: 1697.326432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.326432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365960; longitude = -174.233835; captureRadius = 10; duration = 218; initialDepth = 1602.988107; finalDepth = 1647.326432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1647.326432 # Seafloor depth:-1697.326432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1652.988107 meters looking forward 0.000000 meters along route # Maximum depth: 1652.988107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.988107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366683; longitude = -174.234435; captureRadius = 10; duration = 218; initialDepth = 1553.459795; finalDepth = 1602.988107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1602.988107 # Seafloor depth:-1652.988107 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1603.459795 meters looking forward 0.000000 meters along route # Maximum depth: 1603.459795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.459795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367406; longitude = -174.235035; captureRadius = 10; duration = 218; initialDepth = 1501.928487; finalDepth = 1553.459795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1553.459795 # Seafloor depth:-1603.459795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1551.928487 meters looking forward 0.000000 meters along route # Maximum depth: 1551.928487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.928487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368129; longitude = -174.235635; captureRadius = 10; duration = 218; initialDepth = 1462.946211; finalDepth = 1501.928487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1501.928487 # Seafloor depth:-1551.928487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1512.946211 meters looking forward 0.000000 meters along route # Maximum depth: 1512.946211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.946211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368864; longitude = -174.236245; captureRadius = 10; duration = 218; initialDepth = 1450.962199; finalDepth = 1462.946211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1462.946211 # Seafloor depth:-1512.946211 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1500.962199 meters looking forward 0.000000 meters along route # Maximum depth: 1500.962199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1450.962199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369575; longitude = -174.236834; captureRadius = 10; duration = 218; initialDepth = 1448.071414; finalDepth = 1450.962199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1450.962199 # Seafloor depth:-1500.962199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1498.071414 meters looking forward 0.000000 meters along route # Maximum depth: 1498.071414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.071414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370298; longitude = -174.237434; captureRadius = 10; duration = 218; initialDepth = 1475.669985; finalDepth = 1448.071414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1448.071414 # Seafloor depth:-1498.071414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1525.669985 meters looking forward 0.000000 meters along route # Maximum depth: 1525.669985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.669985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371021; longitude = -174.238034; captureRadius = 10; duration = 218; initialDepth = 1516.940856; finalDepth = 1475.669985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1475.669985 # Seafloor depth:-1525.669985 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1566.940856 meters looking forward 0.000000 meters along route # Maximum depth: 1566.940856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.940856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371744; longitude = -174.238634; captureRadius = 10; duration = 218; initialDepth = 1544.227787; finalDepth = 1516.940856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1516.940856 # Seafloor depth:-1566.940856 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1594.227787 meters looking forward 0.000000 meters along route # Maximum depth: 1594.227787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.227787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372467; longitude = -174.239234; captureRadius = 10; duration = 218; initialDepth = 1596.592664; finalDepth = 1544.227787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1544.227787 # Seafloor depth:-1594.227787 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1665.790007 meters looking forward 0.000000 meters along route # Maximum depth: 1665.790007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.592664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373190; longitude = -174.239833; captureRadius = 10; duration = 218; initialDepth = 1647.852559; finalDepth = 1596.592664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1973433882515 # Actual altitude: 69.1973433882515 # Commanded vehicle depth:1596.59266361175 # Seafloor depth:-1665.790007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.52; MB_Bottom_Detect_Filter_Max_Range = 276.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1697.852559 meters looking forward 0.000000 meters along route # Maximum depth: 1697.852559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.852559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373918; longitude = -174.240438; captureRadius = 10; duration = 218; initialDepth = 1699.820969; finalDepth = 1647.852559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1973433882515 # Actual altitude: 69.1973433882515 # Commanded vehicle depth:1647.852559 # Seafloor depth:-1697.852559 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.52; MB_Bottom_Detect_Filter_Max_Range = 276.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1756.052661 meters looking forward 0.000000 meters along route # Maximum depth: 1756.052661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.820969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374636; longitude = -174.241033; captureRadius = 10; duration = 218; initialDepth = 1733.045085; finalDepth = 1699.820969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.231691718353 # Actual altitude: 56.231691718353 # Commanded vehicle depth:1699.82096928165 # Seafloor depth:-1756.052661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 224.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 224.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1783.045085 meters looking forward 0.000000 meters along route # Maximum depth: 1783.045085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.045085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375359; longitude = -174.241633; captureRadius = 10; duration = 218; initialDepth = 1757.504717; finalDepth = 1733.045085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.231691718353 # Actual altitude: 56.231691718353 # Commanded vehicle depth:1733.045085 # Seafloor depth:-1783.045085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 224.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.74; MB_Bottom_Detect_Filter_Max_Range = 224.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1807.504717 meters looking forward 0.000000 meters along route # Maximum depth: 1807.504717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.504717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376082; longitude = -174.242233; captureRadius = 10; duration = 218; initialDepth = 1755.930210; finalDepth = 1757.504717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.504717 # Seafloor depth:-1807.504717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1805.930210 meters looking forward 0.000000 meters along route # Maximum depth: 1805.930210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.930210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376805; longitude = -174.242832; captureRadius = 10; duration = 218; initialDepth = 1774.823776; finalDepth = 1755.930210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1755.93021 # Seafloor depth:-1805.930210 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1824.823776 meters looking forward 0.000000 meters along route # Maximum depth: 1824.823776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.823776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377528; longitude = -174.243432; captureRadius = 10; duration = 218; initialDepth = 1754.358524; finalDepth = 1774.823776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1774.823776 # Seafloor depth:-1824.823776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1804.358524 meters looking forward 0.000000 meters along route # Maximum depth: 1804.358524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.358524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378251; longitude = -174.244032; captureRadius = 10; duration = 218; initialDepth = 1736.072162; finalDepth = 1754.358524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1754.358524 # Seafloor depth:-1804.358524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1786.072162 meters looking forward 0.000000 meters along route # Maximum depth: 1786.072162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.072162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378974; longitude = -174.244632; captureRadius = 10; duration = 218; initialDepth = 1750.817017; finalDepth = 1736.072162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1736.072162 # Seafloor depth:-1786.072162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1800.817017 meters looking forward 0.000000 meters along route # Maximum depth: 1800.817017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.817017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379697; longitude = -174.245232; captureRadius = 10; duration = 218; initialDepth = 1775.417116; finalDepth = 1750.817017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1750.817017 # Seafloor depth:-1800.817017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1825.417116 meters looking forward 0.000000 meters along route # Maximum depth: 1825.417116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.417116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380433; longitude = -174.245842; captureRadius = 10; duration = 218; initialDepth = 1765.146598; finalDepth = 1775.417116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.417116 # Seafloor depth:-1825.417116 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1815.146598 meters looking forward 0.000000 meters along route # Maximum depth: 1815.146598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.146598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381143; longitude = -174.246431; captureRadius = 10; duration = 218; initialDepth = 1761.627225; finalDepth = 1765.146598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1765.146598 # Seafloor depth:-1815.146598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1811.627225 meters looking forward 0.000000 meters along route # Maximum depth: 1811.627225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.627225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381866; longitude = -174.247031; captureRadius = 10; duration = 218; initialDepth = 1762.598405; finalDepth = 1761.627225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.627225 # Seafloor depth:-1811.627225 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1812.598405 meters looking forward 0.000000 meters along route # Maximum depth: 1812.598405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.598405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382589; longitude = -174.247631; captureRadius = 10; duration = 218; initialDepth = 1773.795796; finalDepth = 1762.598405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.598405 # Seafloor depth:-1812.598405 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.024045 meters # Minimum depth: 1823.795796 meters looking forward 0.000000 meters along route # Maximum depth: 1823.795796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.795796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383354; longitude = -174.248265; captureRadius = 10; duration = 218; initialDepth = 1772.122559; finalDepth = 1773.795796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1773.795796 # Seafloor depth:-1823.795796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 109.024045 meters # Minimum depth: 1822.122559 meters looking forward 0.000000 meters along route # Maximum depth: 1822.122559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.122559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384065; longitude = -174.248855; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1766.069046; finalDepth = 1772.122559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1772.122559 # Seafloor depth:-1822.122559 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.024045 meters # Minimum depth: 1816.069046 meters looking forward 0.000000 meters along route # Maximum depth: 1816.069046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.069046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384668; longitude = -174.249408; captureRadius = 10; duration = 218; initialDepth = 1770.962641; finalDepth = 1766.069046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1766.069046 # Seafloor depth:-1816.069046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.024045 meters # Minimum depth: 1820.962641 meters looking forward 0.000000 meters along route # Maximum depth: 1820.962641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.962641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385353; longitude = -174.250036; captureRadius = 10; duration = 218; initialDepth = 1775.666427; finalDepth = 1770.962641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1770.962641 # Seafloor depth:-1820.962641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.024045 meters # Minimum depth: 1825.666427 meters looking forward 0.000000 meters along route # Maximum depth: 1825.666427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.666427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386065; longitude = -174.250688; captureRadius = 10; duration = 218; initialDepth = 1788.873097; finalDepth = 1775.666427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.666427 # Seafloor depth:-1825.666427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.024045 meters # Minimum depth: 1838.873097 meters looking forward 0.000000 meters along route # Maximum depth: 1838.873097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.873097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386777; longitude = -174.251340; captureRadius = 10; duration = 218; initialDepth = 1780.076984; finalDepth = 1788.873097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1788.873097 # Seafloor depth:-1838.873097 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.024045 meters # Minimum depth: 1830.076984 meters looking forward 0.000000 meters along route # Maximum depth: 1830.076984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.076984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387489; longitude = -174.251992; captureRadius = 10; duration = 218; initialDepth = 1777.297558; finalDepth = 1780.076984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1780.076984 # Seafloor depth:-1830.076984 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.024045 meters # Minimum depth: 1827.297558 meters looking forward 0.000000 meters along route # Maximum depth: 1827.297558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.297558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388200; longitude = -174.252645; captureRadius = 10; duration = 218; initialDepth = 1771.417084; finalDepth = 1777.297558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1777.297558 # Seafloor depth:-1827.297558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 109.024045 meters # Minimum depth: 1821.417084 meters looking forward 0.000000 meters along route # Maximum depth: 1821.417084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.417084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388946; longitude = -174.253328; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1776.818135; finalDepth = 1771.417084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.417084 # Seafloor depth:-1821.417084 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.024045 meters # Minimum depth: 1826.818135 meters looking forward 0.000000 meters along route # Maximum depth: 1826.818135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.818135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389368; longitude = -174.254050; captureRadius = 10; duration = 218; initialDepth = 1780.718197; finalDepth = 1776.818135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.818135 # Seafloor depth:-1826.818135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.024045 meters # Minimum depth: 1830.718197 meters looking forward 0.000000 meters along route # Maximum depth: 1830.718197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.718197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389853; longitude = -174.254881; captureRadius = 10; duration = 218; initialDepth = 1804.064698; finalDepth = 1780.718197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1780.718197 # Seafloor depth:-1830.718197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.024045 meters # Minimum depth: 1854.064698 meters looking forward 0.000000 meters along route # Maximum depth: 1854.064698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.064698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390362; longitude = -174.255753; captureRadius = 10; duration = 218; initialDepth = 1827.536795; finalDepth = 1804.064698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1804.064698 # Seafloor depth:-1854.064698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.024045 meters # Minimum depth: 1877.536795 meters looking forward 0.000000 meters along route # Maximum depth: 1877.536795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.536795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390832; longitude = -174.256558; captureRadius = 10; duration = 218; initialDepth = 1839.962860; finalDepth = 1827.536795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1827.536795 # Seafloor depth:-1877.536795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.024045 meters # Minimum depth: 1889.962860 meters looking forward 0.000000 meters along route # Maximum depth: 1889.962860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1839.962860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391321; longitude = -174.257397; captureRadius = 10; duration = 218; initialDepth = 1862.509439; finalDepth = 1839.962860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1839.96286 # Seafloor depth:-1889.962860 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.024045 meters # Minimum depth: 1912.509439 meters looking forward 0.000000 meters along route # Maximum depth: 1912.509439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.509439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391811; longitude = -174.258236; captureRadius = 10; duration = 218; initialDepth = 1845.591452; finalDepth = 1862.509439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1862.509439 # Seafloor depth:-1912.509439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.024045 meters # Minimum depth: 1895.591452 meters looking forward 0.000000 meters along route # Maximum depth: 1895.591452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.591452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392300; longitude = -174.259074; captureRadius = 10; duration = 218; initialDepth = 1831.796478; finalDepth = 1845.591452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1845.591452 # Seafloor depth:-1895.591452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 109.024045 meters # Minimum depth: 1881.796478 meters looking forward 0.000000 meters along route # Maximum depth: 1881.796478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.796478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392772; longitude = -174.259882; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1752.069575; finalDepth = 1831.796478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1831.796478 # Seafloor depth:-1881.796478 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.024045 meters # Minimum depth: 1802.069575 meters looking forward 0.000000 meters along route # Maximum depth: 1802.069575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.069575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393615; longitude = -174.259308; captureRadius = 10; duration = 218; initialDepth = 1711.065801; finalDepth = 1752.069575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1752.069575 # Seafloor depth:-1802.069575 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.024045 meters # Minimum depth: 1761.065801 meters looking forward 0.000000 meters along route # Maximum depth: 1761.065801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.065801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394429; longitude = -174.258754; captureRadius = 10; duration = 218; initialDepth = 1667.585058; finalDepth = 1711.065801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.065801 # Seafloor depth:-1761.065801 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.024045 meters # Minimum depth: 1717.585058 meters looking forward 0.000000 meters along route # Maximum depth: 1717.585058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.585058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395242; longitude = -174.258200; captureRadius = 10; duration = 218; initialDepth = 1644.890999; finalDepth = 1667.585058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1667.585058 # Seafloor depth:-1717.585058 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.024045 meters # Minimum depth: 1694.890999 meters looking forward 0.000000 meters along route # Maximum depth: 1694.890999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.890999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396056; longitude = -174.257646; captureRadius = 10; duration = 218; initialDepth = 1617.050108; finalDepth = 1644.890999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1644.890999 # Seafloor depth:-1694.890999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.024045 meters # Minimum depth: 1667.050108 meters looking forward 0.000000 meters along route # Maximum depth: 1667.050108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.050108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396869; longitude = -174.257092; captureRadius = 10; duration = 218; initialDepth = 1672.052832; finalDepth = 1617.050108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1617.050108 # Seafloor depth:-1667.050108 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.024045 meters # Minimum depth: 1722.363308 meters looking forward 0.000000 meters along route # Maximum depth: 1722.363308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.052832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397683; longitude = -174.256538; captureRadius = 10; duration = 218; initialDepth = 1725.532249; finalDepth = 1672.052832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3104755409095 # Actual altitude: 50.3104755409095 # Commanded vehicle depth:1672.05283245909 # Seafloor depth:-1722.363308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.19; MB_Bottom_Detect_Filter_Max_Range = 201.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.024045 meters # Minimum depth: 1790.640769 meters looking forward 0.000000 meters along route # Maximum depth: 1790.640769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.532249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398473; longitude = -174.255999; captureRadius = 10; duration = 218; initialDepth = 1777.977544; finalDepth = 1725.532249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.1085199068827 # Actual altitude: 65.1085199068827 # Commanded vehicle depth:1725.53224909312 # Seafloor depth:-1790.640769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 260.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.07; MB_Bottom_Detect_Filter_Max_Range = 260.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 109.024045 meters # Minimum depth: 1853.403534 meters looking forward 0.000000 meters along route # Maximum depth: 1853.403534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.977544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399249; longitude = -174.255471; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1805.700188; finalDepth = 1777.977544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4259898950365 # Actual altitude: 75.4259898950365 # Commanded vehicle depth:1777.97754410496 # Seafloor depth:-1853.403534 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.26; MB_Bottom_Detect_Filter_Max_Range = 301.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.024045 meters # Minimum depth: 1855.700188 meters looking forward 0.000000 meters along route # Maximum depth: 1855.700188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.700188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398576; longitude = -174.254322; captureRadius = 10; duration = 218; initialDepth = 1796.433440; finalDepth = 1805.700188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4259898950365 # Actual altitude: 75.4259898950365 # Commanded vehicle depth:1805.700188 # Seafloor depth:-1855.700188 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 301.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.26; MB_Bottom_Detect_Filter_Max_Range = 301.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.024045 meters # Minimum depth: 1846.433440 meters looking forward 0.000000 meters along route # Maximum depth: 1846.433440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.433440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398086; longitude = -174.253483; captureRadius = 10; duration = 218; initialDepth = 1804.742213; finalDepth = 1796.433440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1796.43344 # Seafloor depth:-1846.433440 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.024045 meters # Minimum depth: 1854.742213 meters looking forward 0.000000 meters along route # Maximum depth: 1854.742213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.742213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397592; longitude = -174.252640; captureRadius = 10; duration = 218; initialDepth = 1804.650938; finalDepth = 1804.742213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1804.742213 # Seafloor depth:-1854.742213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.024045 meters # Minimum depth: 1854.650938 meters looking forward 0.000000 meters along route # Maximum depth: 1854.650938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.650938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397104; longitude = -174.251806; captureRadius = 10; duration = 218; initialDepth = 1800.643594; finalDepth = 1804.650938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1804.650938 # Seafloor depth:-1854.650938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.024045 meters # Minimum depth: 1850.643594 meters looking forward 0.000000 meters along route # Maximum depth: 1850.643594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.643594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396598; longitude = -174.250942; captureRadius = 10; duration = 218; initialDepth = 1791.188396; finalDepth = 1800.643594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1800.643594 # Seafloor depth:-1850.643594 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.024045 meters # Minimum depth: 1841.188396 meters looking forward 0.000000 meters along route # Maximum depth: 1841.188396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.188396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396122; longitude = -174.250129; captureRadius = 10; duration = 218; initialDepth = 1789.822578; finalDepth = 1791.188396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1791.188396 # Seafloor depth:-1841.188396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.024045 meters # Minimum depth: 1839.822578 meters looking forward 0.000000 meters along route # Maximum depth: 1839.822578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.822578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395604; longitude = -174.249243; captureRadius = 10; duration = 218; initialDepth = 1795.342255; finalDepth = 1789.822578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1789.822578 # Seafloor depth:-1839.822578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 109.024045 meters # Minimum depth: 1845.342255 meters looking forward 0.000000 meters along route # Maximum depth: 1845.342255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.342255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395122; longitude = -174.248420; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1798.475067; finalDepth = 1795.342255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.342255 # Seafloor depth:-1845.342255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.024045 meters # Minimum depth: 1848.475067 meters looking forward 0.000000 meters along route # Maximum depth: 1848.475067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.475067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394339; longitude = -174.247570; captureRadius = 10; duration = 218; initialDepth = 1807.610840; finalDepth = 1798.475067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.475067 # Seafloor depth:-1848.475067 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.024045 meters # Minimum depth: 1857.610840 meters looking forward 0.000000 meters along route # Maximum depth: 1857.610840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.610840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393706; longitude = -174.246884; captureRadius = 10; duration = 218; initialDepth = 1817.865581; finalDepth = 1807.610840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1807.61084 # Seafloor depth:-1857.610840 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.024045 meters # Minimum depth: 1867.865581 meters looking forward 0.000000 meters along route # Maximum depth: 1867.865581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.865581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393073; longitude = -174.246198; captureRadius = 10; duration = 218; initialDepth = 1838.656349; finalDepth = 1817.865581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1817.865581 # Seafloor depth:-1867.865581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.024045 meters # Minimum depth: 1888.656349 meters looking forward 0.000000 meters along route # Maximum depth: 1888.656349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.656349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392441; longitude = -174.245512; captureRadius = 10; duration = 218; initialDepth = 1854.209201; finalDepth = 1838.656349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1838.656349 # Seafloor depth:-1888.656349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.024045 meters # Minimum depth: 1904.209201 meters looking forward 0.000000 meters along route # Maximum depth: 1904.209201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.209201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391799; longitude = -174.244817; captureRadius = 10; duration = 218; initialDepth = 1861.039598; finalDepth = 1854.209201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1854.209201 # Seafloor depth:-1904.209201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.024045 meters # Minimum depth: 1911.039598 meters looking forward 0.000000 meters along route # Maximum depth: 1911.039598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.039598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391175; longitude = -174.244140; captureRadius = 10; duration = 218; initialDepth = 1863.522812; finalDepth = 1861.039598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1861.039598 # Seafloor depth:-1911.039598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.024045 meters # Minimum depth: 1913.522812 meters looking forward 0.000000 meters along route # Maximum depth: 1913.522812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.522812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390510; longitude = -174.243420; captureRadius = 10; duration = 218; initialDepth = 1874.723724; finalDepth = 1863.522812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1863.522812 # Seafloor depth:-1913.522812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 109.024045 meters # Minimum depth: 1924.723724 meters looking forward 0.000000 meters along route # Maximum depth: 1924.723724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.723724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389880; longitude = -174.242736; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1875.140444; finalDepth = 1874.723724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1874.723724 # Seafloor depth:-1924.723724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1925.140444 meters looking forward 0.000000 meters along route # Maximum depth: 1925.140444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.140444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389097; longitude = -174.242080; captureRadius = 10; duration = 218; initialDepth = 1866.583548; finalDepth = 1875.140444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1875.140444 # Seafloor depth:-1925.140444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1916.583548 meters looking forward 0.000000 meters along route # Maximum depth: 1916.583548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.583548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388358; longitude = -174.241463; captureRadius = 10; duration = 218; initialDepth = 1855.095116; finalDepth = 1866.583548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1866.583548 # Seafloor depth:-1916.583548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1905.095116 meters looking forward 0.000000 meters along route # Maximum depth: 1905.095116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.095116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387650; longitude = -174.240870; captureRadius = 10; duration = 218; initialDepth = 1848.992010; finalDepth = 1855.095116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1855.095116 # Seafloor depth:-1905.095116 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1898.992010 meters looking forward 0.000000 meters along route # Maximum depth: 1898.992010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.992010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386911; longitude = -174.240251; captureRadius = 10; duration = 218; initialDepth = 1829.073151; finalDepth = 1848.992010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.99201 # Seafloor depth:-1898.992010 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1879.073151 meters looking forward 0.000000 meters along route # Maximum depth: 1879.073151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.073151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386204; longitude = -174.239660; captureRadius = 10; duration = 218; initialDepth = 1828.672382; finalDepth = 1829.073151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.073151 # Seafloor depth:-1879.073151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1878.672382 meters looking forward 0.000000 meters along route # Maximum depth: 1878.672382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.672382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385463; longitude = -174.239040; captureRadius = 10; duration = 218; initialDepth = 1847.013987; finalDepth = 1828.672382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1828.672382 # Seafloor depth:-1878.672382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1897.013987 meters looking forward 0.000000 meters along route # Maximum depth: 1897.013987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.013987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384758; longitude = -174.238450; captureRadius = 10; duration = 218; initialDepth = 1853.766198; finalDepth = 1847.013987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1847.013987 # Seafloor depth:-1897.013987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1903.766198 meters looking forward 0.000000 meters along route # Maximum depth: 1903.766198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.766198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384016; longitude = -174.237829; captureRadius = 10; duration = 218; initialDepth = 1859.212023; finalDepth = 1853.766198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1853.766198 # Seafloor depth:-1903.766198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1909.212023 meters looking forward 0.000000 meters along route # Maximum depth: 1909.212023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.212023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383312; longitude = -174.237240; captureRadius = 10; duration = 218; initialDepth = 1852.827109; finalDepth = 1859.212023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1859.212023 # Seafloor depth:-1909.212023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1902.827109 meters looking forward 0.000000 meters along route # Maximum depth: 1902.827109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.827109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382568; longitude = -174.236617; captureRadius = 10; duration = 218; initialDepth = 1846.051684; finalDepth = 1852.827109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1852.827109 # Seafloor depth:-1902.827109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1896.051684 meters looking forward 0.000000 meters along route # Maximum depth: 1896.051684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.051684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381866; longitude = -174.236030; captureRadius = 10; duration = 218; initialDepth = 1855.419460; finalDepth = 1846.051684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1846.051684 # Seafloor depth:-1896.051684 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1905.419460 meters looking forward 0.000000 meters along route # Maximum depth: 1905.419460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.419460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381143; longitude = -174.235425; captureRadius = 10; duration = 218; initialDepth = 1848.357730; finalDepth = 1855.419460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1855.41946 # Seafloor depth:-1905.419460 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1898.357730 meters looking forward 0.000000 meters along route # Maximum depth: 1898.357730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.357730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380420; longitude = -174.234820; captureRadius = 10; duration = 218; initialDepth = 1856.273706; finalDepth = 1848.357730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.35773 # Seafloor depth:-1898.357730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1906.273706 meters looking forward 0.000000 meters along route # Maximum depth: 1906.273706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.273706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379697; longitude = -174.234215; captureRadius = 10; duration = 218; initialDepth = 1860.081493; finalDepth = 1856.273706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1856.273706 # Seafloor depth:-1906.273706 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1910.081493 meters looking forward 0.000000 meters along route # Maximum depth: 1910.081493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1860.081493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378974; longitude = -174.233610; captureRadius = 10; duration = 218; initialDepth = 1871.701395; finalDepth = 1860.081493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1860.081493 # Seafloor depth:-1910.081493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1921.701395 meters looking forward 0.000000 meters along route # Maximum depth: 1921.701395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.701395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378251; longitude = -174.233005; captureRadius = 10; duration = 218; initialDepth = 1876.802758; finalDepth = 1871.701395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1871.701395 # Seafloor depth:-1921.701395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1926.802758 meters looking forward 0.000000 meters along route # Maximum depth: 1926.802758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.802758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377528; longitude = -174.232400; captureRadius = 10; duration = 218; initialDepth = 1876.297796; finalDepth = 1876.802758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1876.802758 # Seafloor depth:-1926.802758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1926.297796 meters looking forward 0.000000 meters along route # Maximum depth: 1926.297796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.297796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376805; longitude = -174.231795; captureRadius = 10; duration = 218; initialDepth = 1884.727846; finalDepth = 1876.297796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1876.297796 # Seafloor depth:-1926.297796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1934.727846 meters looking forward 0.000000 meters along route # Maximum depth: 1934.727846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1884.727846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376082; longitude = -174.231190; captureRadius = 10; duration = 218; initialDepth = 1887.217594; finalDepth = 1884.727846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1884.727846 # Seafloor depth:-1934.727846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1937.217594 meters looking forward 0.000000 meters along route # Maximum depth: 1937.217594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.217594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375359; longitude = -174.230585; captureRadius = 10; duration = 218; initialDepth = 1893.221208; finalDepth = 1887.217594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1887.217594 # Seafloor depth:-1937.217594 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1943.221208 meters looking forward 0.000000 meters along route # Maximum depth: 1943.221208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.221208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374636; longitude = -174.229980; captureRadius = 10; duration = 218; initialDepth = 1900.289152; finalDepth = 1893.221208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1893.221208 # Seafloor depth:-1943.221208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1950.289152 meters looking forward 0.000000 meters along route # Maximum depth: 1950.289152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.289152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373913; longitude = -174.229375; captureRadius = 10; duration = 218; initialDepth = 1914.206587; finalDepth = 1900.289152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1900.289152 # Seafloor depth:-1950.289152 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1964.206587 meters looking forward 0.000000 meters along route # Maximum depth: 1964.206587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.206587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373190; longitude = -174.228770; captureRadius = 10; duration = 218; initialDepth = 1919.005035; finalDepth = 1914.206587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1914.206587 # Seafloor depth:-1964.206587 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1969.005035 meters looking forward 0.000000 meters along route # Maximum depth: 1969.005035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.005035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372467; longitude = -174.228165; captureRadius = 10; duration = 218; initialDepth = 1929.751428; finalDepth = 1919.005035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1919.005035 # Seafloor depth:-1969.005035 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1979.751428 meters looking forward 0.000000 meters along route # Maximum depth: 1979.751428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1929.751428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371744; longitude = -174.227560; captureRadius = 10; duration = 218; initialDepth = 1934.509576; finalDepth = 1929.751428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1929.751428 # Seafloor depth:-1979.751428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1984.509576 meters looking forward 0.000000 meters along route # Maximum depth: 1984.509576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.509576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371021; longitude = -174.226955; captureRadius = 10; duration = 218; initialDepth = 1931.150504; finalDepth = 1934.509576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1934.509576 # Seafloor depth:-1984.509576 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1981.150504 meters looking forward 0.000000 meters along route # Maximum depth: 1981.150504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.150504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370298; longitude = -174.226350; captureRadius = 10; duration = 218; initialDepth = 1926.710342; finalDepth = 1931.150504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1931.150504 # Seafloor depth:-1981.150504 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1976.710342 meters looking forward 0.000000 meters along route # Maximum depth: 1976.710342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.710342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369575; longitude = -174.225745; captureRadius = 10; duration = 218; initialDepth = 1925.732751; finalDepth = 1926.710342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1926.710342 # Seafloor depth:-1976.710342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1975.732751 meters looking forward 0.000000 meters along route # Maximum depth: 1975.732751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.732751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368852; longitude = -174.225140; captureRadius = 10; duration = 218; initialDepth = 1943.266514; finalDepth = 1925.732751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1925.732751 # Seafloor depth:-1975.732751 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1993.266514 meters looking forward 0.000000 meters along route # Maximum depth: 1993.266514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.266514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368129; longitude = -174.224535; captureRadius = 10; duration = 218; initialDepth = 1930.467023; finalDepth = 1943.266514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1943.266514 # Seafloor depth:-1993.266514 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1980.467023 meters looking forward 0.000000 meters along route # Maximum depth: 1980.467023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1930.467023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367406; longitude = -174.223929; captureRadius = 10; duration = 218; initialDepth = 1944.961183; finalDepth = 1930.467023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1930.467023 # Seafloor depth:-1980.467023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 1994.961183 meters looking forward 0.000000 meters along route # Maximum depth: 1994.961183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1944.961183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366683; longitude = -174.223324; captureRadius = 10; duration = 218; initialDepth = 1956.529669; finalDepth = 1944.961183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1944.961183 # Seafloor depth:-1994.961183 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2006.529669 meters looking forward 0.000000 meters along route # Maximum depth: 2006.529669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1956.529669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365960; longitude = -174.222719; captureRadius = 10; duration = 218; initialDepth = 1988.722605; finalDepth = 1956.529669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1956.529669 # Seafloor depth:-2006.529669 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2038.722605 meters looking forward 0.000000 meters along route # Maximum depth: 2038.722605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1988.722605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365237; longitude = -174.222114; captureRadius = 10; duration = 218; initialDepth = 1996.913770; finalDepth = 1988.722605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1988.722605 # Seafloor depth:-2038.722605 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2046.913770 meters looking forward 0.000000 meters along route # Maximum depth: 2046.913770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.913770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364513; longitude = -174.221509; captureRadius = 10; duration = 218; initialDepth = 2010.890689; finalDepth = 1996.913770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1996.91377 # Seafloor depth:-2046.913770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2060.890689 meters looking forward 0.000000 meters along route # Maximum depth: 2060.890689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.890689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363790; longitude = -174.220904; captureRadius = 10; duration = 218; initialDepth = 2023.756109; finalDepth = 2010.890689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2010.890689 # Seafloor depth:-2060.890689 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2073.756109 meters looking forward 0.000000 meters along route # Maximum depth: 2073.756109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.756109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363067; longitude = -174.220299; captureRadius = 10; duration = 218; initialDepth = 2016.891563; finalDepth = 2023.756109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2023.756109 # Seafloor depth:-2073.756109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2066.891563 meters looking forward 0.000000 meters along route # Maximum depth: 2066.891563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2016.891563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362344; longitude = -174.219694; captureRadius = 10; duration = 218; initialDepth = 2043.124269; finalDepth = 2016.891563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2016.891563 # Seafloor depth:-2066.891563 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2093.124269 meters looking forward 0.000000 meters along route # Maximum depth: 2093.124269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.124269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361621; longitude = -174.219089; captureRadius = 10; duration = 218; initialDepth = 2062.742873; finalDepth = 2043.124269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2043.124269 # Seafloor depth:-2093.124269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2112.742873 meters looking forward 0.000000 meters along route # Maximum depth: 2112.742873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.742873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360898; longitude = -174.218484; captureRadius = 10; duration = 218; initialDepth = 2072.330918; finalDepth = 2062.742873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2062.742873 # Seafloor depth:-2112.742873 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2122.330918 meters looking forward 0.000000 meters along route # Maximum depth: 2122.330918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2072.330918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360175; longitude = -174.217879; captureRadius = 10; duration = 218; initialDepth = 2085.590269; finalDepth = 2072.330918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2072.330918 # Seafloor depth:-2122.330918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2135.590269 meters looking forward 0.000000 meters along route # Maximum depth: 2135.590269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.590269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359452; longitude = -174.217274; captureRadius = 10; duration = 218; initialDepth = 2066.181407; finalDepth = 2085.590269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2085.590269 # Seafloor depth:-2135.590269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2116.181407 meters looking forward 0.000000 meters along route # Maximum depth: 2116.181407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.181407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358729; longitude = -174.216669; captureRadius = 10; duration = 218; initialDepth = 2078.714862; finalDepth = 2066.181407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2066.181407 # Seafloor depth:-2116.181407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.024045 meters # Minimum depth: 2128.714862 meters looking forward 0.000000 meters along route # Maximum depth: 2128.714862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2078.714862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357958; longitude = -174.216024; captureRadius = 10; duration = 218; initialDepth = 2123.093424; finalDepth = 2078.714862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2078.714862 # Seafloor depth:-2128.714862 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 109.024045 meters # Minimum depth: 2173.093424 meters looking forward 0.000000 meters along route # Maximum depth: 2173.093424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.093424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357253; longitude = -174.215434; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2087.692383; finalDepth = 2123.093424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2123.093424 # Seafloor depth:-2173.093424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 109.024045 meters # Minimum depth: 2137.692383 meters looking forward 0.000000 meters along route # Maximum depth: 2137.692383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2087.692383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355867; longitude = -174.216148; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2034.666136; finalDepth = 2087.692383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2087.692383 # Seafloor depth:-2137.692383 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2084.666136 meters looking forward 0.000000 meters along route # Maximum depth: 2084.666136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.666136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356938; longitude = -174.217049; captureRadius = 10; duration = 218; initialDepth = 2025.178634; finalDepth = 2034.666136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2034.666136 # Seafloor depth:-2084.666136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2075.178634 meters looking forward 0.000000 meters along route # Maximum depth: 2075.178634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2025.178634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357645; longitude = -174.217644; captureRadius = 10; duration = 218; initialDepth = 2011.526911; finalDepth = 2025.178634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2025.178634 # Seafloor depth:-2075.178634 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2061.526911 meters looking forward 0.000000 meters along route # Maximum depth: 2061.526911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.526911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358377; longitude = -174.218260; captureRadius = 10; duration = 218; initialDepth = 2002.282917; finalDepth = 2011.526911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2011.526911 # Seafloor depth:-2061.526911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2052.282917 meters looking forward 0.000000 meters along route # Maximum depth: 2052.282917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.282917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359091; longitude = -174.218861; captureRadius = 10; duration = 218; initialDepth = 1992.906570; finalDepth = 2002.282917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2002.282917 # Seafloor depth:-2052.282917 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2042.906570 meters looking forward 0.000000 meters along route # Maximum depth: 2042.906570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1992.906570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359817; longitude = -174.219472; captureRadius = 10; duration = 218; initialDepth = 1976.065728; finalDepth = 1992.906570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1992.90657 # Seafloor depth:-2042.906570 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2026.065728 meters looking forward 0.000000 meters along route # Maximum depth: 2026.065728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1976.065728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360537; longitude = -174.220077; captureRadius = 10; duration = 218; initialDepth = 1950.908194; finalDepth = 1976.065728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1976.065728 # Seafloor depth:-2026.065728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2000.908194 meters looking forward 0.000000 meters along route # Maximum depth: 2000.908194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1950.908194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361260; longitude = -174.220686; captureRadius = 10; duration = 218; initialDepth = 1953.287377; finalDepth = 1950.908194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1950.908194 # Seafloor depth:-2000.908194 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 2003.287377 meters looking forward 0.000000 meters along route # Maximum depth: 2003.287377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.287377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361983; longitude = -174.221294; captureRadius = 10; duration = 218; initialDepth = 1930.426508; finalDepth = 1953.287377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1953.287377 # Seafloor depth:-2003.287377 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1980.426508 meters looking forward 0.000000 meters along route # Maximum depth: 1980.426508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1930.426508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362706; longitude = -174.221902; captureRadius = 10; duration = 218; initialDepth = 1911.525796; finalDepth = 1930.426508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1930.426508 # Seafloor depth:-1980.426508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1961.525796 meters looking forward 0.000000 meters along route # Maximum depth: 1961.525796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.525796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363429; longitude = -174.222511; captureRadius = 10; duration = 218; initialDepth = 1905.158592; finalDepth = 1911.525796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1911.525796 # Seafloor depth:-1961.525796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1955.158592 meters looking forward 0.000000 meters along route # Maximum depth: 1955.158592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.158592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364152; longitude = -174.223119; captureRadius = 10; duration = 218; initialDepth = 1923.329176; finalDepth = 1905.158592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1905.158592 # Seafloor depth:-1955.158592 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1973.329176 meters looking forward 0.000000 meters along route # Maximum depth: 1973.329176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1923.329176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364875; longitude = -174.223728; captureRadius = 10; duration = 218; initialDepth = 1925.440219; finalDepth = 1923.329176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1923.329176 # Seafloor depth:-1973.329176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1975.440219 meters looking forward 0.000000 meters along route # Maximum depth: 1975.440219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.440219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365598; longitude = -174.224336; captureRadius = 10; duration = 218; initialDepth = 1903.729441; finalDepth = 1925.440219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1925.440219 # Seafloor depth:-1975.440219 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1953.729441 meters looking forward 0.000000 meters along route # Maximum depth: 1953.729441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1903.729441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366321; longitude = -174.224944; captureRadius = 10; duration = 218; initialDepth = 1865.952824; finalDepth = 1903.729441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1903.729441 # Seafloor depth:-1953.729441 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1915.952824 meters looking forward 0.000000 meters along route # Maximum depth: 1915.952824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.952824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367044; longitude = -174.225553; captureRadius = 10; duration = 218; initialDepth = 1848.583123; finalDepth = 1865.952824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1865.952824 # Seafloor depth:-1915.952824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1898.583123 meters looking forward 0.000000 meters along route # Maximum depth: 1898.583123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.583123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367767; longitude = -174.226161; captureRadius = 10; duration = 218; initialDepth = 1842.773640; finalDepth = 1848.583123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.583123 # Seafloor depth:-1898.583123 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1892.773640 meters looking forward 0.000000 meters along route # Maximum depth: 1892.773640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.773640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368490; longitude = -174.226769; captureRadius = 10; duration = 218; initialDepth = 1844.481960; finalDepth = 1842.773640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.77364 # Seafloor depth:-1892.773640 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1894.481960 meters looking forward 0.000000 meters along route # Maximum depth: 1894.481960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.481960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369230; longitude = -174.227392; captureRadius = 10; duration = 218; initialDepth = 1843.651659; finalDepth = 1844.481960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1844.48196 # Seafloor depth:-1894.481960 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1893.651659 meters looking forward 0.000000 meters along route # Maximum depth: 1893.651659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.651659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369936; longitude = -174.227986; captureRadius = 10; duration = 218; initialDepth = 1842.767333; finalDepth = 1843.651659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1843.651659 # Seafloor depth:-1893.651659 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1892.767333 meters looking forward 0.000000 meters along route # Maximum depth: 1892.767333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.767333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370670; longitude = -174.228604; captureRadius = 10; duration = 218; initialDepth = 1831.885907; finalDepth = 1842.767333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.767333 # Seafloor depth:-1892.767333 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1881.885907 meters looking forward 0.000000 meters along route # Maximum depth: 1881.885907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.885907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371382; longitude = -174.229203; captureRadius = 10; duration = 218; initialDepth = 1817.949392; finalDepth = 1831.885907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1831.885907 # Seafloor depth:-1881.885907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1867.949392 meters looking forward 0.000000 meters along route # Maximum depth: 1867.949392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.949392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372110; longitude = -174.229815; captureRadius = 10; duration = 218; initialDepth = 1798.875737; finalDepth = 1817.949392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1817.949392 # Seafloor depth:-1867.949392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1848.875737 meters looking forward 0.000000 meters along route # Maximum depth: 1848.875737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.875737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372828; longitude = -174.230420; captureRadius = 10; duration = 218; initialDepth = 1801.296688; finalDepth = 1798.875737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.875737 # Seafloor depth:-1848.875737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1851.296688 meters looking forward 0.000000 meters along route # Maximum depth: 1851.296688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.296688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373551; longitude = -174.231028; captureRadius = 10; duration = 218; initialDepth = 1800.720163; finalDepth = 1801.296688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1801.296688 # Seafloor depth:-1851.296688 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1850.720163 meters looking forward 0.000000 meters along route # Maximum depth: 1850.720163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.720163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374274; longitude = -174.231636; captureRadius = 10; duration = 218; initialDepth = 1792.269931; finalDepth = 1800.720163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1800.720163 # Seafloor depth:-1850.720163 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1842.269931 meters looking forward 0.000000 meters along route # Maximum depth: 1842.269931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.269931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374997; longitude = -174.232245; captureRadius = 10; duration = 218; initialDepth = 1780.390208; finalDepth = 1792.269931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1792.269931 # Seafloor depth:-1842.269931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1830.390208 meters looking forward 0.000000 meters along route # Maximum depth: 1830.390208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.390208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375720; longitude = -174.232853; captureRadius = 10; duration = 218; initialDepth = 1782.654882; finalDepth = 1780.390208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1780.390208 # Seafloor depth:-1830.390208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1832.654882 meters looking forward 0.000000 meters along route # Maximum depth: 1832.654882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.654882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376444; longitude = -174.233461; captureRadius = 10; duration = 218; initialDepth = 1775.572930; finalDepth = 1782.654882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.654882 # Seafloor depth:-1832.654882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1825.572930 meters looking forward 0.000000 meters along route # Maximum depth: 1825.572930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.572930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377167; longitude = -174.234070; captureRadius = 10; duration = 218; initialDepth = 1767.953169; finalDepth = 1775.572930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.57293 # Seafloor depth:-1825.572930 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1817.953169 meters looking forward 0.000000 meters along route # Maximum depth: 1817.953169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.953169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377890; longitude = -174.234678; captureRadius = 10; duration = 218; initialDepth = 1768.525574; finalDepth = 1767.953169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1767.953169 # Seafloor depth:-1817.953169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1818.525574 meters looking forward 0.000000 meters along route # Maximum depth: 1818.525574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.525574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378613; longitude = -174.235287; captureRadius = 10; duration = 218; initialDepth = 1763.215751; finalDepth = 1768.525574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1768.525574 # Seafloor depth:-1818.525574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1813.215751 meters looking forward 0.000000 meters along route # Maximum depth: 1813.215751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.215751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379336; longitude = -174.235895; captureRadius = 10; duration = 218; initialDepth = 1761.984452; finalDepth = 1763.215751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1763.215751 # Seafloor depth:-1813.215751 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1811.984452 meters looking forward 0.000000 meters along route # Maximum depth: 1811.984452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.984452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380059; longitude = -174.236503; captureRadius = 10; duration = 218; initialDepth = 1753.131413; finalDepth = 1761.984452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.984452 # Seafloor depth:-1811.984452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1803.131413 meters looking forward 0.000000 meters along route # Maximum depth: 1803.131413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.131413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380782; longitude = -174.237112; captureRadius = 10; duration = 218; initialDepth = 1738.922013; finalDepth = 1753.131413; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1753.131413 # Seafloor depth:-1803.131413 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1788.922013 meters looking forward 0.000000 meters along route # Maximum depth: 1788.922013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.922013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381523; longitude = -174.237735; captureRadius = 10; duration = 218; initialDepth = 1741.997148; finalDepth = 1738.922013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1738.922013 # Seafloor depth:-1788.922013 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1791.997148 meters looking forward 0.000000 meters along route # Maximum depth: 1791.997148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.997148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382228; longitude = -174.238328; captureRadius = 10; duration = 218; initialDepth = 1751.563628; finalDepth = 1741.997148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1741.997148 # Seafloor depth:-1791.997148 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1801.563628 meters looking forward 0.000000 meters along route # Maximum depth: 1801.563628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.563628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382963; longitude = -174.238947; captureRadius = 10; duration = 218; initialDepth = 1770.621437; finalDepth = 1751.563628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1751.563628 # Seafloor depth:-1801.563628 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1820.621437 meters looking forward 0.000000 meters along route # Maximum depth: 1820.621437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.621437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383674; longitude = -174.239545; captureRadius = 10; duration = 218; initialDepth = 1761.528580; finalDepth = 1770.621437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1770.621437 # Seafloor depth:-1820.621437 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1811.528580 meters looking forward 0.000000 meters along route # Maximum depth: 1811.528580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.528580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384402; longitude = -174.240158; captureRadius = 10; duration = 218; initialDepth = 1746.351948; finalDepth = 1761.528580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.52858 # Seafloor depth:-1811.528580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1796.351948 meters looking forward 0.000000 meters along route # Maximum depth: 1796.351948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.351948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385120; longitude = -174.240762; captureRadius = 10; duration = 218; initialDepth = 1745.056994; finalDepth = 1746.351948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.351948 # Seafloor depth:-1796.351948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1795.056994 meters looking forward 0.000000 meters along route # Maximum depth: 1795.056994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.056994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385843; longitude = -174.241370; captureRadius = 10; duration = 218; initialDepth = 1746.363348; finalDepth = 1745.056994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1745.056994 # Seafloor depth:-1795.056994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1796.363348 meters looking forward 0.000000 meters along route # Maximum depth: 1796.363348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.363348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386566; longitude = -174.241979; captureRadius = 10; duration = 218; initialDepth = 1746.645853; finalDepth = 1746.363348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.363348 # Seafloor depth:-1796.363348 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1796.645853 meters looking forward 0.000000 meters along route # Maximum depth: 1796.645853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.645853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387289; longitude = -174.242587; captureRadius = 10; duration = 218; initialDepth = 1740.805602; finalDepth = 1746.645853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.645853 # Seafloor depth:-1796.645853 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.024045 meters # Minimum depth: 1790.805602 meters looking forward 0.000000 meters along route # Maximum depth: 1790.805602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.805602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388057; longitude = -174.243233; captureRadius = 10; duration = 218; initialDepth = 1761.085938; finalDepth = 1740.805602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1740.805602 # Seafloor depth:-1790.805602 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 109.024045 meters # Minimum depth: 1811.085938 meters looking forward 0.000000 meters along route # Maximum depth: 1811.085938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.085938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388795; longitude = -174.243854; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1764.666717; finalDepth = 1761.085938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.085938 # Seafloor depth:-1811.085938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.024045 meters # Minimum depth: 1814.666717 meters looking forward 0.000000 meters along route # Maximum depth: 1814.666717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.666717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389458; longitude = -174.244562; captureRadius = 10; duration = 218; initialDepth = 1757.030664; finalDepth = 1764.666717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1764.666717 # Seafloor depth:-1814.666717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.024045 meters # Minimum depth: 1807.030664 meters looking forward 0.000000 meters along route # Maximum depth: 1807.030664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.030664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390091; longitude = -174.245237; captureRadius = 10; duration = 218; initialDepth = 1747.985841; finalDepth = 1757.030664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.030664 # Seafloor depth:-1807.030664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.024045 meters # Minimum depth: 1797.985841 meters looking forward 0.000000 meters along route # Maximum depth: 1797.985841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.985841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390723; longitude = -174.245912; captureRadius = 10; duration = 218; initialDepth = 1733.288141; finalDepth = 1747.985841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.985841 # Seafloor depth:-1797.985841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.024045 meters # Minimum depth: 1783.288141 meters looking forward 0.000000 meters along route # Maximum depth: 1783.288141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.288141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391357; longitude = -174.246588; captureRadius = 10; duration = 218; initialDepth = 1711.029243; finalDepth = 1733.288141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1733.288141 # Seafloor depth:-1783.288141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.024045 meters # Minimum depth: 1761.029243 meters looking forward 0.000000 meters along route # Maximum depth: 1761.029243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.029243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391989; longitude = -174.247262; captureRadius = 10; duration = 218; initialDepth = 1703.286463; finalDepth = 1711.029243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.029243 # Seafloor depth:-1761.029243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.024045 meters # Minimum depth: 1753.286463 meters looking forward 0.000000 meters along route # Maximum depth: 1753.286463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.286463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392621; longitude = -174.247938; captureRadius = 10; duration = 218; initialDepth = 1699.792855; finalDepth = 1703.286463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1703.286463 # Seafloor depth:-1753.286463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.024045 meters # Minimum depth: 1749.792855 meters looking forward 0.000000 meters along route # Maximum depth: 1749.792855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.792855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393277; longitude = -174.248638; captureRadius = 10; duration = 218; initialDepth = 1697.005208; finalDepth = 1699.792855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.792855 # Seafloor depth:-1749.792855 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 109.024045 meters # Minimum depth: 1747.005208 meters looking forward 0.000000 meters along route # Maximum depth: 1747.005208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.005208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393947; longitude = -174.249352; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1692.044213; finalDepth = 1697.005208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1697.005208 # Seafloor depth:-1747.005208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1742.044213 meters looking forward 0.000000 meters along route # Maximum depth: 1742.044213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.044213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394365; longitude = -174.250036; captureRadius = 10; duration = 218; initialDepth = 1697.987150; finalDepth = 1692.044213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1692.044213 # Seafloor depth:-1742.044213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1747.987150 meters looking forward 0.000000 meters along route # Maximum depth: 1747.987150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.987150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394881; longitude = -174.250877; captureRadius = 10; duration = 218; initialDepth = 1705.389979; finalDepth = 1697.987150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1697.98715 # Seafloor depth:-1747.987150 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1755.389979 meters looking forward 0.000000 meters along route # Maximum depth: 1755.389979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.389979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395392; longitude = -174.251713; captureRadius = 10; duration = 218; initialDepth = 1708.478775; finalDepth = 1705.389979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1705.389979 # Seafloor depth:-1755.389979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1758.478775 meters looking forward 0.000000 meters along route # Maximum depth: 1758.478775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.478775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395875; longitude = -174.252501; captureRadius = 10; duration = 218; initialDepth = 1705.650171; finalDepth = 1708.478775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1708.478775 # Seafloor depth:-1758.478775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1755.650171 meters looking forward 0.000000 meters along route # Maximum depth: 1755.650171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.650171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396362; longitude = -174.253297; captureRadius = 10; duration = 218; initialDepth = 1707.848222; finalDepth = 1705.650171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1705.650171 # Seafloor depth:-1755.650171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1757.848222 meters looking forward 0.000000 meters along route # Maximum depth: 1757.848222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.848222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396876; longitude = -174.254136; captureRadius = 10; duration = 218; initialDepth = 1704.831228; finalDepth = 1707.848222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1707.848222 # Seafloor depth:-1757.848222 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1754.831228 meters looking forward 0.000000 meters along route # Maximum depth: 1754.831228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.831228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397411; longitude = -174.255010; captureRadius = 10; duration = 218; initialDepth = 1719.915699; finalDepth = 1704.831228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1704.831228 # Seafloor depth:-1754.831228 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.024045 meters # Minimum depth: 1769.915699 meters looking forward 0.000000 meters along route # Maximum depth: 1769.915699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.915699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397903; longitude = -174.255813; captureRadius = 10; duration = 218; initialDepth = 1711.005046; finalDepth = 1719.915699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1719.915699 # Seafloor depth:-1769.915699 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 109.024045 meters # Minimum depth: 1761.005046 meters looking forward 0.000000 meters along route # Maximum depth: 1761.005046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.005046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398436; longitude = -174.256683; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1613.999630; finalDepth = 1711.005046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.005046 # Seafloor depth:-1761.005046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.024045 meters # Minimum depth: 1663.999630 meters looking forward 0.000000 meters along route # Maximum depth: 1663.999630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.999630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397321; longitude = -174.257438; captureRadius = 10; duration = 218; initialDepth = 1639.260132; finalDepth = 1613.999630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1613.99963 # Seafloor depth:-1663.999630 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.024045 meters # Minimum depth: 1689.260132 meters looking forward 0.000000 meters along route # Maximum depth: 1689.260132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.260132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396508; longitude = -174.257989; captureRadius = 10; duration = 218; initialDepth = 1666.646196; finalDepth = 1639.260132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1639.260132 # Seafloor depth:-1689.260132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.024045 meters # Minimum depth: 1716.646196 meters looking forward 0.000000 meters along route # Maximum depth: 1716.646196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.646196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395694; longitude = -174.258541; captureRadius = 10; duration = 218; initialDepth = 1696.927690; finalDepth = 1666.646196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.646196 # Seafloor depth:-1716.646196 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 109.024045 meters # Minimum depth: 1746.927690 meters looking forward 0.000000 meters along route # Maximum depth: 1746.927690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.927690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394907; longitude = -174.259074; captureRadius = 10; duration = 218; initialDepth = 1742.809570; finalDepth = 1696.927690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1696.92769 # Seafloor depth:-1746.927690 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 109.024045 meters # Minimum depth: 1792.809570 meters looking forward 0.000000 meters along route # Maximum depth: 1792.809570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.809570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394128; longitude = -174.259602; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1769.391149; finalDepth = 1742.809570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1742.80957 # Seafloor depth:-1792.809570 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.024045 meters # Minimum depth: 1819.391149 meters looking forward 0.000000 meters along route # Maximum depth: 1819.391149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.391149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393425; longitude = -174.258422; captureRadius = 10; duration = 218; initialDepth = 1762.283841; finalDepth = 1769.391149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1769.391149 # Seafloor depth:-1819.391149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.024045 meters # Minimum depth: 1812.283841 meters looking forward 0.000000 meters along route # Maximum depth: 1812.283841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.283841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392927; longitude = -174.257583; captureRadius = 10; duration = 218; initialDepth = 1785.025442; finalDepth = 1762.283841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.283841 # Seafloor depth:-1812.283841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.024045 meters # Minimum depth: 1835.025442 meters looking forward 0.000000 meters along route # Maximum depth: 1835.025442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.025442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392428; longitude = -174.256745; captureRadius = 10; duration = 218; initialDepth = 1764.167405; finalDepth = 1785.025442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1785.025442 # Seafloor depth:-1835.025442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.024045 meters # Minimum depth: 1814.167405 meters looking forward 0.000000 meters along route # Maximum depth: 1814.167405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.167405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391929; longitude = -174.255906; captureRadius = 10; duration = 218; initialDepth = 1747.019931; finalDepth = 1764.167405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1764.167405 # Seafloor depth:-1814.167405 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.024045 meters # Minimum depth: 1797.019931 meters looking forward 0.000000 meters along route # Maximum depth: 1797.019931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.019931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391430; longitude = -174.255067; captureRadius = 10; duration = 218; initialDepth = 1733.074197; finalDepth = 1747.019931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.019931 # Seafloor depth:-1797.019931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.024045 meters # Minimum depth: 1783.074197 meters looking forward 0.000000 meters along route # Maximum depth: 1783.074197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.074197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390931; longitude = -174.254229; captureRadius = 10; duration = 218; initialDepth = 1719.402151; finalDepth = 1733.074197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1733.074197 # Seafloor depth:-1783.074197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.024045 meters # Minimum depth: 1769.402151 meters looking forward 0.000000 meters along route # Maximum depth: 1769.402151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.402151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390452; longitude = -174.253424; captureRadius = 10; duration = 218; initialDepth = 1696.008464; finalDepth = 1719.402151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1719.402151 # Seafloor depth:-1769.402151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 109.024045 meters # Minimum depth: 1746.008464 meters looking forward 0.000000 meters along route # Maximum depth: 1746.008464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.008464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389970; longitude = -174.252614; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1715.874012; finalDepth = 1696.008464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1696.008464 # Seafloor depth:-1746.008464 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.024045 meters # Minimum depth: 1765.874012 meters looking forward 0.000000 meters along route # Maximum depth: 1765.874012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.874012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389187; longitude = -174.251879; captureRadius = 10; duration = 218; initialDepth = 1715.838604; finalDepth = 1715.874012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1715.874012 # Seafloor depth:-1765.874012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.024045 meters # Minimum depth: 1765.838604 meters looking forward 0.000000 meters along route # Maximum depth: 1765.838604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.838604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388513; longitude = -174.251247; captureRadius = 10; duration = 218; initialDepth = 1706.676186; finalDepth = 1715.838604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1715.838604 # Seafloor depth:-1765.838604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.024045 meters # Minimum depth: 1756.676186 meters looking forward 0.000000 meters along route # Maximum depth: 1756.676186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.676186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387817; longitude = -174.250595; captureRadius = 10; duration = 218; initialDepth = 1700.265629; finalDepth = 1706.676186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1706.676186 # Seafloor depth:-1756.676186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.024045 meters # Minimum depth: 1750.265629 meters looking forward 0.000000 meters along route # Maximum depth: 1750.265629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.265629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387108; longitude = -174.249929; captureRadius = 10; duration = 218; initialDepth = 1690.611790; finalDepth = 1700.265629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1700.265629 # Seafloor depth:-1750.265629 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.024045 meters # Minimum depth: 1740.611790 meters looking forward 0.000000 meters along route # Maximum depth: 1740.611790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.611790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386385; longitude = -174.249251; captureRadius = 10; duration = 218; initialDepth = 1678.664897; finalDepth = 1690.611790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1690.61179 # Seafloor depth:-1740.611790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.024045 meters # Minimum depth: 1728.664897 meters looking forward 0.000000 meters along route # Maximum depth: 1728.664897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.664897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385662; longitude = -174.248573; captureRadius = 10; duration = 218; initialDepth = 1693.164388; finalDepth = 1678.664897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1678.664897 # Seafloor depth:-1728.664897 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 109.024045 meters # Minimum depth: 1743.164388 meters looking forward 0.000000 meters along route # Maximum depth: 1743.164388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.164388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384969; longitude = -174.247923; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1695.530741; finalDepth = 1693.164388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1693.164388 # Seafloor depth:-1743.164388 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1745.530741 meters looking forward 0.000000 meters along route # Maximum depth: 1745.530741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.530741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384034; longitude = -174.247147; captureRadius = 10; duration = 218; initialDepth = 1677.567247; finalDepth = 1695.530741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1695.530741 # Seafloor depth:-1745.530741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1727.567247 meters looking forward 0.000000 meters along route # Maximum depth: 1727.567247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.567247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383312; longitude = -174.246547; captureRadius = 10; duration = 218; initialDepth = 1667.789941; finalDepth = 1677.567247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1677.567247 # Seafloor depth:-1727.567247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1717.789941 meters looking forward 0.000000 meters along route # Maximum depth: 1717.789941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.789941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382575; longitude = -174.245936; captureRadius = 10; duration = 218; initialDepth = 1685.456785; finalDepth = 1667.789941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1667.789941 # Seafloor depth:-1717.789941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1735.456785 meters looking forward 0.000000 meters along route # Maximum depth: 1735.456785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.456785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381866; longitude = -174.245347; captureRadius = 10; duration = 218; initialDepth = 1682.743780; finalDepth = 1685.456785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1685.456785 # Seafloor depth:-1735.456785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1732.743780 meters looking forward 0.000000 meters along route # Maximum depth: 1732.743780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.743780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381143; longitude = -174.244746; captureRadius = 10; duration = 218; initialDepth = 1712.838796; finalDepth = 1682.743780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1682.74378 # Seafloor depth:-1732.743780 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1762.838796 meters looking forward 0.000000 meters along route # Maximum depth: 1762.838796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.838796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380420; longitude = -174.244146; captureRadius = 10; duration = 218; initialDepth = 1737.497459; finalDepth = 1712.838796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1712.838796 # Seafloor depth:-1762.838796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1787.497459 meters looking forward 0.000000 meters along route # Maximum depth: 1787.497459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.497459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379697; longitude = -174.243545; captureRadius = 10; duration = 218; initialDepth = 1744.511302; finalDepth = 1737.497459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1737.497459 # Seafloor depth:-1787.497459 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1794.511302 meters looking forward 0.000000 meters along route # Maximum depth: 1794.511302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.511302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378974; longitude = -174.242945; captureRadius = 10; duration = 218; initialDepth = 1722.069224; finalDepth = 1744.511302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1744.511302 # Seafloor depth:-1794.511302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1772.069224 meters looking forward 0.000000 meters along route # Maximum depth: 1772.069224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.069224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378251; longitude = -174.242344; captureRadius = 10; duration = 218; initialDepth = 1741.082199; finalDepth = 1722.069224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1722.069224 # Seafloor depth:-1772.069224 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1791.082199 meters looking forward 0.000000 meters along route # Maximum depth: 1791.082199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.082199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377526; longitude = -174.241742; captureRadius = 10; duration = 218; initialDepth = 1746.321087; finalDepth = 1741.082199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1741.082199 # Seafloor depth:-1791.082199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1796.321087 meters looking forward 0.000000 meters along route # Maximum depth: 1796.321087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.321087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376805; longitude = -174.241144; captureRadius = 10; duration = 218; initialDepth = 1749.960694; finalDepth = 1746.321087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.321087 # Seafloor depth:-1796.321087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1799.960694 meters looking forward 0.000000 meters along route # Maximum depth: 1799.960694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.960694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376067; longitude = -174.240531; captureRadius = 10; duration = 218; initialDepth = 1721.334548; finalDepth = 1749.960694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1749.960694 # Seafloor depth:-1799.960694 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1771.334548 meters looking forward 0.000000 meters along route # Maximum depth: 1771.334548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.334548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375359; longitude = -174.239943; captureRadius = 10; duration = 218; initialDepth = 1658.026744; finalDepth = 1721.334548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1721.334548 # Seafloor depth:-1771.334548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1708.026744 meters looking forward 0.000000 meters along route # Maximum depth: 1708.026744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.026744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374636; longitude = -174.239342; captureRadius = 10; duration = 218; initialDepth = 1579.397047; finalDepth = 1658.026744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1658.026744 # Seafloor depth:-1708.026744 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1629.397047 meters looking forward 0.000000 meters along route # Maximum depth: 1629.397047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.397047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373913; longitude = -174.238742; captureRadius = 10; duration = 218; initialDepth = 1608.165446; finalDepth = 1579.397047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1579.397047 # Seafloor depth:-1629.397047 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1658.165446 meters looking forward 0.000000 meters along route # Maximum depth: 1658.165446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.165446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373190; longitude = -174.238141; captureRadius = 10; duration = 218; initialDepth = 1585.408773; finalDepth = 1608.165446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1608.165446 # Seafloor depth:-1658.165446 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1635.408773 meters looking forward 0.000000 meters along route # Maximum depth: 1635.408773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.408773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372467; longitude = -174.237541; captureRadius = 10; duration = 218; initialDepth = 1545.857422; finalDepth = 1585.408773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1585.408773 # Seafloor depth:-1635.408773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1595.857422 meters looking forward 0.000000 meters along route # Maximum depth: 1595.857422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.857422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371744; longitude = -174.236941; captureRadius = 10; duration = 218; initialDepth = 1532.703420; finalDepth = 1545.857422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1545.857422 # Seafloor depth:-1595.857422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1582.703420 meters looking forward 0.000000 meters along route # Maximum depth: 1582.703420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.703420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371018; longitude = -174.236338; captureRadius = 10; duration = 218; initialDepth = 1528.503832; finalDepth = 1532.703420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1532.70342 # Seafloor depth:-1582.703420 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1578.503832 meters looking forward 0.000000 meters along route # Maximum depth: 1578.503832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.503832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370298; longitude = -174.235740; captureRadius = 10; duration = 218; initialDepth = 1540.309829; finalDepth = 1528.503832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1528.503832 # Seafloor depth:-1578.503832 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1590.309829 meters looking forward 0.000000 meters along route # Maximum depth: 1590.309829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.309829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369559; longitude = -174.235126; captureRadius = 10; duration = 218; initialDepth = 1568.375656; finalDepth = 1540.309829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1540.309829 # Seafloor depth:-1590.309829 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1618.375656 meters looking forward 0.000000 meters along route # Maximum depth: 1618.375656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.375656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368852; longitude = -174.234539; captureRadius = 10; duration = 218; initialDepth = 1602.174238; finalDepth = 1568.375656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1568.375656 # Seafloor depth:-1618.375656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1652.174238 meters looking forward 0.000000 meters along route # Maximum depth: 1652.174238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.174238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368129; longitude = -174.233938; captureRadius = 10; duration = 218; initialDepth = 1644.643944; finalDepth = 1602.174238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1602.174238 # Seafloor depth:-1652.174238 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1694.643944 meters looking forward 0.000000 meters along route # Maximum depth: 1694.643944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.643944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367406; longitude = -174.233338; captureRadius = 10; duration = 218; initialDepth = 1682.646944; finalDepth = 1644.643944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1644.643944 # Seafloor depth:-1694.643944 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1732.646944 meters looking forward 0.000000 meters along route # Maximum depth: 1732.646944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.646944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366683; longitude = -174.232738; captureRadius = 10; duration = 218; initialDepth = 1731.724048; finalDepth = 1682.646944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1682.646944 # Seafloor depth:-1732.646944 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1781.724048 meters looking forward 0.000000 meters along route # Maximum depth: 1781.724048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.724048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365960; longitude = -174.232137; captureRadius = 10; duration = 218; initialDepth = 1769.170683; finalDepth = 1731.724048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.724048 # Seafloor depth:-1781.724048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1819.170683 meters looking forward 0.000000 meters along route # Maximum depth: 1819.170683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.170683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365237; longitude = -174.231537; captureRadius = 10; duration = 218; initialDepth = 1801.517618; finalDepth = 1769.170683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1769.170683 # Seafloor depth:-1819.170683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1851.517618 meters looking forward 0.000000 meters along route # Maximum depth: 1851.517618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.517618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364510; longitude = -174.230933; captureRadius = 10; duration = 218; initialDepth = 1823.391327; finalDepth = 1801.517618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1801.517618 # Seafloor depth:-1851.517618 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1873.391327 meters looking forward 0.000000 meters along route # Maximum depth: 1873.391327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.391327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363790; longitude = -174.230336; captureRadius = 10; duration = 218; initialDepth = 1844.359072; finalDepth = 1823.391327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1823.391327 # Seafloor depth:-1873.391327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1894.359072 meters looking forward 0.000000 meters along route # Maximum depth: 1894.359072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.359072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363051; longitude = -174.229722; captureRadius = 10; duration = 218; initialDepth = 1857.229395; finalDepth = 1844.359072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1844.359072 # Seafloor depth:-1894.359072 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1907.229395 meters looking forward 0.000000 meters along route # Maximum depth: 1907.229395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.229395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362344; longitude = -174.229135; captureRadius = 10; duration = 218; initialDepth = 1859.395619; finalDepth = 1857.229395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1857.229395 # Seafloor depth:-1907.229395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1909.395619 meters looking forward 0.000000 meters along route # Maximum depth: 1909.395619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.395619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361621; longitude = -174.228535; captureRadius = 10; duration = 218; initialDepth = 1866.081408; finalDepth = 1859.395619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1859.395619 # Seafloor depth:-1909.395619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1916.081408 meters looking forward 0.000000 meters along route # Maximum depth: 1916.081408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.081408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360898; longitude = -174.227934; captureRadius = 10; duration = 218; initialDepth = 1875.162080; finalDepth = 1866.081408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1866.081408 # Seafloor depth:-1916.081408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1925.162080 meters looking forward 0.000000 meters along route # Maximum depth: 1925.162080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.162080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360175; longitude = -174.227334; captureRadius = 10; duration = 218; initialDepth = 1872.535875; finalDepth = 1875.162080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1875.16208 # Seafloor depth:-1925.162080 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1922.535875 meters looking forward 0.000000 meters along route # Maximum depth: 1922.535875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.535875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359452; longitude = -174.226733; captureRadius = 10; duration = 218; initialDepth = 1879.047576; finalDepth = 1872.535875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1872.535875 # Seafloor depth:-1922.535875 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1929.047576 meters looking forward 0.000000 meters along route # Maximum depth: 1929.047576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.047576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358729; longitude = -174.226133; captureRadius = 10; duration = 218; initialDepth = 1877.534892; finalDepth = 1879.047576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1879.047576 # Seafloor depth:-1929.047576 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1927.534892 meters looking forward 0.000000 meters along route # Maximum depth: 1927.534892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.534892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358002; longitude = -174.225529; captureRadius = 10; duration = 218; initialDepth = 1888.882923; finalDepth = 1877.534892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1877.534892 # Seafloor depth:-1927.534892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1938.882923 meters looking forward 0.000000 meters along route # Maximum depth: 1938.882923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.882923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357283; longitude = -174.224932; captureRadius = 10; duration = 218; initialDepth = 1906.900928; finalDepth = 1888.882923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1888.882923 # Seafloor depth:-1938.882923 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1956.900928 meters looking forward 0.000000 meters along route # Maximum depth: 1956.900928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.900928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356543; longitude = -174.224317; captureRadius = 10; duration = 218; initialDepth = 1942.455147; finalDepth = 1906.900928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1906.900928 # Seafloor depth:-1956.900928 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 1992.455147 meters looking forward 0.000000 meters along route # Maximum depth: 1992.455147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1942.455147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355837; longitude = -174.223731; captureRadius = 10; duration = 218; initialDepth = 1976.933025; finalDepth = 1942.455147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1942.455147 # Seafloor depth:-1992.455147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 2026.933025 meters looking forward 0.000000 meters along route # Maximum depth: 2026.933025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1976.933025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355114; longitude = -174.223131; captureRadius = 10; duration = 218; initialDepth = 2011.829487; finalDepth = 1976.933025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1976.933025 # Seafloor depth:-2026.933025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 2061.829487 meters looking forward 0.000000 meters along route # Maximum depth: 2061.829487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.829487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354391; longitude = -174.222530; captureRadius = 10; duration = 218; initialDepth = 2026.295278; finalDepth = 2011.829487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2011.829487 # Seafloor depth:-2061.829487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.024045 meters # Minimum depth: 2076.295278 meters looking forward 0.000000 meters along route # Maximum depth: 2076.295278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.295278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353626; longitude = -174.221894; captureRadius = 10; duration = 218; initialDepth = 2023.516927; finalDepth = 2026.295278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2026.295278 # Seafloor depth:-2076.295278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 109.024045 meters # Minimum depth: 2073.516927 meters looking forward 0.000000 meters along route # Maximum depth: 2073.516927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.516927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352915; longitude = -174.221304; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2062.520996; finalDepth = 2023.516927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2023.516927 # Seafloor depth:-2073.516927 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 109.024045 meters # Minimum depth: 2112.520996 meters looking forward 0.000000 meters along route # Maximum depth: 2112.520996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.520996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353457; longitude = -174.219907; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2022.288363; finalDepth = 2062.520996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2062.520996 # Seafloor depth:-2112.520996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 2072.288363 meters looking forward 0.000000 meters along route # Maximum depth: 2072.288363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.288363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354662; longitude = -174.220913; captureRadius = 10; duration = 218; initialDepth = 1997.510738; finalDepth = 2022.288363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2022.288363 # Seafloor depth:-2072.288363 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 2047.510738 meters looking forward 0.000000 meters along route # Maximum depth: 2047.510738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1997.510738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355392; longitude = -174.221522; captureRadius = 10; duration = 218; initialDepth = 1945.301069; finalDepth = 1997.510738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1997.510738 # Seafloor depth:-2047.510738 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1995.301069 meters looking forward 0.000000 meters along route # Maximum depth: 1995.301069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.301069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356108; longitude = -174.222120; captureRadius = 10; duration = 218; initialDepth = 1882.547544; finalDepth = 1945.301069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1945.301069 # Seafloor depth:-1995.301069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1932.547544 meters looking forward 0.000000 meters along route # Maximum depth: 1932.547544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1882.547544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356842; longitude = -174.222733; captureRadius = 10; duration = 218; initialDepth = 1843.019751; finalDepth = 1882.547544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1882.547544 # Seafloor depth:-1932.547544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1893.019751 meters looking forward 0.000000 meters along route # Maximum depth: 1893.019751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.019751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357554; longitude = -174.223328; captureRadius = 10; duration = 218; initialDepth = 1794.484747; finalDepth = 1843.019751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1843.019751 # Seafloor depth:-1893.019751 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1844.484747 meters looking forward 0.000000 meters along route # Maximum depth: 1844.484747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.484747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358293; longitude = -174.223944; captureRadius = 10; duration = 218; initialDepth = 1776.873416; finalDepth = 1794.484747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1794.484747 # Seafloor depth:-1844.484747 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1826.873416 meters looking forward 0.000000 meters along route # Maximum depth: 1826.873416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.873416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359000; longitude = -174.224535; captureRadius = 10; duration = 218; initialDepth = 1777.867525; finalDepth = 1776.873416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.873416 # Seafloor depth:-1826.873416 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1827.867525 meters looking forward 0.000000 meters along route # Maximum depth: 1827.867525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.867525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359744; longitude = -174.225156; captureRadius = 10; duration = 218; initialDepth = 1780.472241; finalDepth = 1777.867525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1777.867525 # Seafloor depth:-1827.867525 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1830.472241 meters looking forward 0.000000 meters along route # Maximum depth: 1830.472241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.472241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360446; longitude = -174.225743; captureRadius = 10; duration = 218; initialDepth = 1789.659363; finalDepth = 1780.472241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1780.472241 # Seafloor depth:-1830.472241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1839.659363 meters looking forward 0.000000 meters along route # Maximum depth: 1839.659363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.659363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361169; longitude = -174.226346; captureRadius = 10; duration = 218; initialDepth = 1799.249278; finalDepth = 1789.659363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1789.659363 # Seafloor depth:-1839.659363 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1849.249278 meters looking forward 0.000000 meters along route # Maximum depth: 1849.249278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.249278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361893; longitude = -174.226950; captureRadius = 10; duration = 218; initialDepth = 1819.388488; finalDepth = 1799.249278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1799.249278 # Seafloor depth:-1849.249278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1869.388488 meters looking forward 0.000000 meters along route # Maximum depth: 1869.388488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.388488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362616; longitude = -174.227554; captureRadius = 10; duration = 218; initialDepth = 1822.210351; finalDepth = 1819.388488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1819.388488 # Seafloor depth:-1869.388488 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1872.210351 meters looking forward 0.000000 meters along route # Maximum depth: 1872.210351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.210351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363339; longitude = -174.228157; captureRadius = 10; duration = 218; initialDepth = 1821.302486; finalDepth = 1822.210351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1822.210351 # Seafloor depth:-1872.210351 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1871.302486 meters looking forward 0.000000 meters along route # Maximum depth: 1871.302486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.302486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364062; longitude = -174.228761; captureRadius = 10; duration = 218; initialDepth = 1811.532138; finalDepth = 1821.302486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1821.302486 # Seafloor depth:-1871.302486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1861.532138 meters looking forward 0.000000 meters along route # Maximum depth: 1861.532138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.532138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364785; longitude = -174.229365; captureRadius = 10; duration = 218; initialDepth = 1787.821637; finalDepth = 1811.532138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1811.532138 # Seafloor depth:-1861.532138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1837.821637 meters looking forward 0.000000 meters along route # Maximum depth: 1837.821637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.821637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365508; longitude = -174.229969; captureRadius = 10; duration = 218; initialDepth = 1757.491684; finalDepth = 1787.821637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1787.821637 # Seafloor depth:-1837.821637 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1807.491684 meters looking forward 0.000000 meters along route # Maximum depth: 1807.491684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.491684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366231; longitude = -174.230572; captureRadius = 10; duration = 218; initialDepth = 1739.915375; finalDepth = 1757.491684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.491684 # Seafloor depth:-1807.491684 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1789.915375 meters looking forward 0.000000 meters along route # Maximum depth: 1789.915375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.915375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366954; longitude = -174.231176; captureRadius = 10; duration = 218; initialDepth = 1701.740761; finalDepth = 1739.915375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1739.915375 # Seafloor depth:-1789.915375 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1751.740761 meters looking forward 0.000000 meters along route # Maximum depth: 1751.740761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.740761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367677; longitude = -174.231780; captureRadius = 10; duration = 218; initialDepth = 1682.283403; finalDepth = 1701.740761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1701.740761 # Seafloor depth:-1751.740761 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1732.283403 meters looking forward 0.000000 meters along route # Maximum depth: 1732.283403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.283403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368400; longitude = -174.232383; captureRadius = 10; duration = 218; initialDepth = 1658.971886; finalDepth = 1682.283403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1682.283403 # Seafloor depth:-1732.283403 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1708.971886 meters looking forward 0.000000 meters along route # Maximum depth: 1708.971886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.971886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369123; longitude = -174.232987; captureRadius = 10; duration = 218; initialDepth = 1632.728209; finalDepth = 1658.971886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1658.971886 # Seafloor depth:-1708.971886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1682.728209 meters looking forward 0.000000 meters along route # Maximum depth: 1682.728209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.728209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369846; longitude = -174.233591; captureRadius = 10; duration = 218; initialDepth = 1616.599825; finalDepth = 1632.728209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1632.728209 # Seafloor depth:-1682.728209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1666.599825 meters looking forward 0.000000 meters along route # Maximum depth: 1666.599825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.599825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370569; longitude = -174.234195; captureRadius = 10; duration = 218; initialDepth = 1606.712554; finalDepth = 1616.599825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.599825 # Seafloor depth:-1666.599825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1656.712554 meters looking forward 0.000000 meters along route # Maximum depth: 1656.712554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.712554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371292; longitude = -174.234798; captureRadius = 10; duration = 218; initialDepth = 1609.074967; finalDepth = 1606.712554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1606.712554 # Seafloor depth:-1656.712554 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1659.074967 meters looking forward 0.000000 meters along route # Maximum depth: 1659.074967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.074967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372020; longitude = -174.235406; captureRadius = 10; duration = 218; initialDepth = 1624.079620; finalDepth = 1609.074967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1609.074967 # Seafloor depth:-1659.074967 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1674.079620 meters looking forward 0.000000 meters along route # Maximum depth: 1674.079620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.079620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372738; longitude = -174.236006; captureRadius = 10; duration = 218; initialDepth = 1648.329769; finalDepth = 1624.079620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1624.07962 # Seafloor depth:-1674.079620 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1698.329769 meters looking forward 0.000000 meters along route # Maximum depth: 1698.329769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.329769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373470; longitude = -174.236617; captureRadius = 10; duration = 218; initialDepth = 1677.262528; finalDepth = 1648.329769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1648.329769 # Seafloor depth:-1698.329769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1727.262528 meters looking forward 0.000000 meters along route # Maximum depth: 1727.262528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.262528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374184; longitude = -174.237213; captureRadius = 10; duration = 218; initialDepth = 1673.700973; finalDepth = 1677.262528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1677.262528 # Seafloor depth:-1727.262528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1723.700973 meters looking forward 0.000000 meters along route # Maximum depth: 1723.700973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.700973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374921; longitude = -174.237829; captureRadius = 10; duration = 218; initialDepth = 1661.825461; finalDepth = 1673.700973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1673.700973 # Seafloor depth:-1723.700973 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1711.825461 meters looking forward 0.000000 meters along route # Maximum depth: 1711.825461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.825461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375630; longitude = -174.238421; captureRadius = 10; duration = 218; initialDepth = 1655.142069; finalDepth = 1661.825461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1661.825461 # Seafloor depth:-1711.825461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1705.142069 meters looking forward 0.000000 meters along route # Maximum depth: 1705.142069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.142069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376372; longitude = -174.239040; captureRadius = 10; duration = 218; initialDepth = 1673.057140; finalDepth = 1655.142069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1655.142069 # Seafloor depth:-1705.142069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1723.057140 meters looking forward 0.000000 meters along route # Maximum depth: 1723.057140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.057140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377076; longitude = -174.239628; captureRadius = 10; duration = 218; initialDepth = 1654.733193; finalDepth = 1673.057140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1673.05714 # Seafloor depth:-1723.057140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1704.733193 meters looking forward 0.000000 meters along route # Maximum depth: 1704.733193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.733193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377799; longitude = -174.240232; captureRadius = 10; duration = 218; initialDepth = 1658.416750; finalDepth = 1654.733193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1654.733193 # Seafloor depth:-1704.733193 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1708.416750 meters looking forward 0.000000 meters along route # Maximum depth: 1708.416750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.416750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378522; longitude = -174.240835; captureRadius = 10; duration = 218; initialDepth = 1668.177308; finalDepth = 1658.416750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1658.41675 # Seafloor depth:-1708.416750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1718.177308 meters looking forward 0.000000 meters along route # Maximum depth: 1718.177308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.177308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379245; longitude = -174.241439; captureRadius = 10; duration = 218; initialDepth = 1675.245210; finalDepth = 1668.177308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1668.177308 # Seafloor depth:-1718.177308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1725.245210 meters looking forward 0.000000 meters along route # Maximum depth: 1725.245210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.245210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379968; longitude = -174.242043; captureRadius = 10; duration = 218; initialDepth = 1645.812281; finalDepth = 1675.245210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1675.24521 # Seafloor depth:-1725.245210 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1695.812281 meters looking forward 0.000000 meters along route # Maximum depth: 1695.812281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.812281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380691; longitude = -174.242647; captureRadius = 10; duration = 218; initialDepth = 1621.333677; finalDepth = 1645.812281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1645.812281 # Seafloor depth:-1695.812281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1671.333677 meters looking forward 0.000000 meters along route # Maximum depth: 1671.333677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.333677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381414; longitude = -174.243250; captureRadius = 10; duration = 218; initialDepth = 1597.265912; finalDepth = 1621.333677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1621.333677 # Seafloor depth:-1671.333677 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1647.265912 meters looking forward 0.000000 meters along route # Maximum depth: 1647.265912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.265912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382137; longitude = -174.243854; captureRadius = 10; duration = 218; initialDepth = 1585.330726; finalDepth = 1597.265912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1597.265912 # Seafloor depth:-1647.265912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1635.330726 meters looking forward 0.000000 meters along route # Maximum depth: 1635.330726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.330726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382860; longitude = -174.244458; captureRadius = 10; duration = 218; initialDepth = 1572.665925; finalDepth = 1585.330726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1585.330726 # Seafloor depth:-1635.330726 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1622.665925 meters looking forward 0.000000 meters along route # Maximum depth: 1622.665925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.665925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383583; longitude = -174.245061; captureRadius = 10; duration = 218; initialDepth = 1588.344302; finalDepth = 1572.665925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1572.665925 # Seafloor depth:-1622.665925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1638.344302 meters looking forward 0.000000 meters along route # Maximum depth: 1638.344302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.344302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384306; longitude = -174.245665; captureRadius = 10; duration = 218; initialDepth = 1600.158038; finalDepth = 1588.344302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1588.344302 # Seafloor depth:-1638.344302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 109.024045 meters # Minimum depth: 1650.158038 meters looking forward 0.000000 meters along route # Maximum depth: 1650.158038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.158038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385077; longitude = -174.246308; captureRadius = 10; duration = 218; initialDepth = 1598.985931; finalDepth = 1600.158038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1600.158038 # Seafloor depth:-1650.158038 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 109.024045 meters # Minimum depth: 1648.985931 meters looking forward 0.000000 meters along route # Maximum depth: 1648.985931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.985931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385783; longitude = -174.246898; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1590.981574; finalDepth = 1598.985931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1598.985931 # Seafloor depth:-1648.985931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.024045 meters # Minimum depth: 1640.981574 meters looking forward 0.000000 meters along route # Maximum depth: 1640.981574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.981574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386747; longitude = -174.247805; captureRadius = 10; duration = 218; initialDepth = 1602.337060; finalDepth = 1590.981574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1590.981574 # Seafloor depth:-1640.981574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.024045 meters # Minimum depth: 1652.337060 meters looking forward 0.000000 meters along route # Maximum depth: 1652.337060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.337060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387433; longitude = -174.248451; captureRadius = 10; duration = 218; initialDepth = 1604.443642; finalDepth = 1602.337060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1602.33706 # Seafloor depth:-1652.337060 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.024045 meters # Minimum depth: 1654.443642 meters looking forward 0.000000 meters along route # Maximum depth: 1654.443642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.443642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388126; longitude = -174.249104; captureRadius = 10; duration = 218; initialDepth = 1607.050919; finalDepth = 1604.443642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1604.443642 # Seafloor depth:-1654.443642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.024045 meters # Minimum depth: 1657.050919 meters looking forward 0.000000 meters along route # Maximum depth: 1657.050919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.050919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388825; longitude = -174.249762; captureRadius = 10; duration = 218; initialDepth = 1621.120538; finalDepth = 1607.050919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1607.050919 # Seafloor depth:-1657.050919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.024045 meters # Minimum depth: 1671.120538 meters looking forward 0.000000 meters along route # Maximum depth: 1671.120538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.120538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389548; longitude = -174.250442; captureRadius = 10; duration = 218; initialDepth = 1628.615758; finalDepth = 1621.120538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1621.120538 # Seafloor depth:-1671.120538 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.024045 meters # Minimum depth: 1678.615758 meters looking forward 0.000000 meters along route # Maximum depth: 1678.615758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.615758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390271; longitude = -174.251123; captureRadius = 10; duration = 218; initialDepth = 1610.319183; finalDepth = 1628.615758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1628.615758 # Seafloor depth:-1678.615758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 109.024045 meters # Minimum depth: 1660.319183 meters looking forward 0.000000 meters along route # Maximum depth: 1660.319183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.319183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390964; longitude = -174.251775; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1643.400136; finalDepth = 1610.319183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1610.319183 # Seafloor depth:-1660.319183 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.024045 meters # Minimum depth: 1693.400136 meters looking forward 0.000000 meters along route # Maximum depth: 1693.400136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.400136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391762; longitude = -174.253111; captureRadius = 10; duration = 218; initialDepth = 1661.573072; finalDepth = 1643.400136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1643.400136 # Seafloor depth:-1693.400136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.024045 meters # Minimum depth: 1711.573072 meters looking forward 0.000000 meters along route # Maximum depth: 1711.573072 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.573072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392263; longitude = -174.253949; captureRadius = 10; duration = 218; initialDepth = 1666.624822; finalDepth = 1661.573072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1661.573072 # Seafloor depth:-1711.573072 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.024045 meters # Minimum depth: 1716.624822 meters looking forward 0.000000 meters along route # Maximum depth: 1716.624822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.624822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392764; longitude = -174.254788; captureRadius = 10; duration = 218; initialDepth = 1672.102069; finalDepth = 1666.624822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.624822 # Seafloor depth:-1716.624822 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.024045 meters # Minimum depth: 1722.102069 meters looking forward 0.000000 meters along route # Maximum depth: 1722.102069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.102069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393264; longitude = -174.255626; captureRadius = 10; duration = 218; initialDepth = 1695.563504; finalDepth = 1672.102069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1672.102069 # Seafloor depth:-1722.102069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.024045 meters # Minimum depth: 1745.563504 meters looking forward 0.000000 meters along route # Maximum depth: 1745.563504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.563504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393765; longitude = -174.256465; captureRadius = 10; duration = 218; initialDepth = 1684.886518; finalDepth = 1695.563504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1695.563504 # Seafloor depth:-1745.563504 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.024045 meters # Minimum depth: 1734.886518 meters looking forward 0.000000 meters along route # Maximum depth: 1734.886518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.886518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394248; longitude = -174.257273; captureRadius = 10; duration = 218; initialDepth = 1681.509115; finalDepth = 1684.886518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1684.886518 # Seafloor depth:-1734.886518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 109.024045 meters # Minimum depth: 1731.509115 meters looking forward 0.000000 meters along route # Maximum depth: 1731.509115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.509115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394730; longitude = -174.258080; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1635.709923; finalDepth = 1681.509115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1681.509115 # Seafloor depth:-1731.509115 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.024045 meters # Minimum depth: 1685.709923 meters looking forward 0.000000 meters along route # Maximum depth: 1685.709923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.709923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395965; longitude = -174.257187; captureRadius = 10; duration = 218; initialDepth = 1616.920898; finalDepth = 1635.709923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1635.709923 # Seafloor depth:-1685.709923 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 109.024045 meters # Minimum depth: 1666.920898 meters looking forward 0.000000 meters along route # Maximum depth: 1666.920898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.920898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396749; longitude = -174.256620; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1608.056941; finalDepth = 1616.920898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.920898 # Seafloor depth:-1666.920898 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.024045 meters # Minimum depth: 1658.056941 meters looking forward 0.000000 meters along route # Maximum depth: 1658.056941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.056941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396389; longitude = -174.255999; captureRadius = 10; duration = 218; initialDepth = 1604.496727; finalDepth = 1608.056941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1608.056941 # Seafloor depth:-1658.056941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.024045 meters # Minimum depth: 1654.496727 meters looking forward 0.000000 meters along route # Maximum depth: 1654.496727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.496727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395904; longitude = -174.255161; captureRadius = 10; duration = 218; initialDepth = 1611.840096; finalDepth = 1604.496727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1604.496727 # Seafloor depth:-1654.496727 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.024045 meters # Minimum depth: 1661.840096 meters looking forward 0.000000 meters along route # Maximum depth: 1661.840096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.840096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395420; longitude = -174.254322; captureRadius = 10; duration = 218; initialDepth = 1607.046091; finalDepth = 1611.840096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1611.840096 # Seafloor depth:-1661.840096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.024045 meters # Minimum depth: 1657.046091 meters looking forward 0.000000 meters along route # Maximum depth: 1657.046091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.046091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394935; longitude = -174.253483; captureRadius = 10; duration = 218; initialDepth = 1617.637288; finalDepth = 1607.046091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1607.046091 # Seafloor depth:-1657.046091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.024045 meters # Minimum depth: 1667.637288 meters looking forward 0.000000 meters along route # Maximum depth: 1667.637288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.637288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394429; longitude = -174.252609; captureRadius = 10; duration = 218; initialDepth = 1614.698274; finalDepth = 1617.637288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1617.637288 # Seafloor depth:-1667.637288 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.024045 meters # Minimum depth: 1664.698274 meters looking forward 0.000000 meters along route # Maximum depth: 1664.698274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.698274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393965; longitude = -174.251806; captureRadius = 10; duration = 218; initialDepth = 1610.605317; finalDepth = 1614.698274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1614.698274 # Seafloor depth:-1664.698274 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.024045 meters # Minimum depth: 1660.605317 meters looking forward 0.000000 meters along route # Maximum depth: 1660.605317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.605317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393480; longitude = -174.250967; captureRadius = 10; duration = 218; initialDepth = 1615.833771; finalDepth = 1610.605317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1610.605317 # Seafloor depth:-1660.605317 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 109.024045 meters # Minimum depth: 1665.833771 meters looking forward 0.000000 meters along route # Maximum depth: 1665.833771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.833771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393013; longitude = -174.250160; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1615.973265; finalDepth = 1615.833771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1615.833771 # Seafloor depth:-1665.833771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.024045 meters # Minimum depth: 1665.973265 meters looking forward 0.000000 meters along route # Maximum depth: 1665.973265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.973265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392420; longitude = -174.249570; captureRadius = 10; duration = 218; initialDepth = 1623.063811; finalDepth = 1615.973265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1615.973265 # Seafloor depth:-1665.973265 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.024045 meters # Minimum depth: 1673.063811 meters looking forward 0.000000 meters along route # Maximum depth: 1673.063811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.063811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391764; longitude = -174.248917; captureRadius = 10; duration = 218; initialDepth = 1637.168670; finalDepth = 1623.063811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1623.063811 # Seafloor depth:-1673.063811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.024045 meters # Minimum depth: 1687.168670 meters looking forward 0.000000 meters along route # Maximum depth: 1687.168670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.168670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391109; longitude = -174.248265; captureRadius = 10; duration = 218; initialDepth = 1645.170463; finalDepth = 1637.168670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1637.16867 # Seafloor depth:-1687.168670 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.024045 meters # Minimum depth: 1695.170463 meters looking forward 0.000000 meters along route # Maximum depth: 1695.170463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.170463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390452; longitude = -174.247612; captureRadius = 10; duration = 218; initialDepth = 1647.213948; finalDepth = 1645.170463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1645.170463 # Seafloor depth:-1695.170463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.024045 meters # Minimum depth: 1697.213948 meters looking forward 0.000000 meters along route # Maximum depth: 1697.213948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.213948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389798; longitude = -174.246961; captureRadius = 10; duration = 218; initialDepth = 1652.536036; finalDepth = 1647.213948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1647.213948 # Seafloor depth:-1697.213948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.024045 meters # Minimum depth: 1702.536036 meters looking forward 0.000000 meters along route # Maximum depth: 1702.536036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.536036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389143; longitude = -174.246308; captureRadius = 10; duration = 218; initialDepth = 1667.644196; finalDepth = 1652.536036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1652.536036 # Seafloor depth:-1702.536036 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.024045 meters # Minimum depth: 1717.644196 meters looking forward 0.000000 meters along route # Maximum depth: 1717.644196 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.644196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388464; longitude = -174.245633; captureRadius = 10; duration = 218; initialDepth = 1680.250854; finalDepth = 1667.644196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1667.644196 # Seafloor depth:-1717.644196 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 109.024045 meters # Minimum depth: 1730.250854 meters looking forward 0.000000 meters along route # Maximum depth: 1730.250854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.250854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387801; longitude = -174.244973; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1697.152367; finalDepth = 1680.250854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1680.250854 # Seafloor depth:-1730.250854 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1747.152367 meters looking forward 0.000000 meters along route # Maximum depth: 1747.152367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.152367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387018; longitude = -174.244311; captureRadius = 10; duration = 218; initialDepth = 1700.671383; finalDepth = 1697.152367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1697.152367 # Seafloor depth:-1747.152367 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1750.671383 meters looking forward 0.000000 meters along route # Maximum depth: 1750.671383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.671383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386294; longitude = -174.243699; captureRadius = 10; duration = 218; initialDepth = 1706.928802; finalDepth = 1700.671383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1700.671383 # Seafloor depth:-1750.671383 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1756.928802 meters looking forward 0.000000 meters along route # Maximum depth: 1756.928802 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.928802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385572; longitude = -174.243088; captureRadius = 10; duration = 218; initialDepth = 1711.900814; finalDepth = 1706.928802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1706.928802 # Seafloor depth:-1756.928802 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1761.900814 meters looking forward 0.000000 meters along route # Maximum depth: 1761.900814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.900814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384849; longitude = -174.242477; captureRadius = 10; duration = 218; initialDepth = 1699.796274; finalDepth = 1711.900814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.900814 # Seafloor depth:-1761.900814 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1749.796274 meters looking forward 0.000000 meters along route # Maximum depth: 1749.796274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.796274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384126; longitude = -174.241866; captureRadius = 10; duration = 218; initialDepth = 1698.145299; finalDepth = 1699.796274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.796274 # Seafloor depth:-1749.796274 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1748.145299 meters looking forward 0.000000 meters along route # Maximum depth: 1748.145299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.145299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383403; longitude = -174.241255; captureRadius = 10; duration = 218; initialDepth = 1694.433957; finalDepth = 1698.145299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1698.145299 # Seafloor depth:-1748.145299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1744.433957 meters looking forward 0.000000 meters along route # Maximum depth: 1744.433957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1694.433957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382657; longitude = -174.240624; captureRadius = 10; duration = 218; initialDepth = 1676.469539; finalDepth = 1694.433957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1694.433957 # Seafloor depth:-1744.433957 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1726.469539 meters looking forward 0.000000 meters along route # Maximum depth: 1726.469539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.469539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381957; longitude = -174.240032; captureRadius = 10; duration = 218; initialDepth = 1644.703499; finalDepth = 1676.469539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1676.469539 # Seafloor depth:-1726.469539 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1694.703499 meters looking forward 0.000000 meters along route # Maximum depth: 1694.703499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.703499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381224; longitude = -174.239413; captureRadius = 10; duration = 218; initialDepth = 1646.969673; finalDepth = 1644.703499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1644.703499 # Seafloor depth:-1694.703499 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1696.969673 meters looking forward 0.000000 meters along route # Maximum depth: 1696.969673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.969673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380511; longitude = -174.238810; captureRadius = 10; duration = 218; initialDepth = 1654.876025; finalDepth = 1646.969673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1646.969673 # Seafloor depth:-1696.969673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1704.876025 meters looking forward 0.000000 meters along route # Maximum depth: 1704.876025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.876025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379788; longitude = -174.238198; captureRadius = 10; duration = 218; initialDepth = 1664.402443; finalDepth = 1654.876025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1654.876025 # Seafloor depth:-1704.876025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1714.402443 meters looking forward 0.000000 meters along route # Maximum depth: 1714.402443 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.402443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379064; longitude = -174.237587; captureRadius = 10; duration = 218; initialDepth = 1662.941140; finalDepth = 1664.402443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1664.402443 # Seafloor depth:-1714.402443 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1712.941140 meters looking forward 0.000000 meters along route # Maximum depth: 1712.941140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.941140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378341; longitude = -174.236976; captureRadius = 10; duration = 218; initialDepth = 1673.660590; finalDepth = 1662.941140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1662.94114 # Seafloor depth:-1712.941140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1723.660590 meters looking forward 0.000000 meters along route # Maximum depth: 1723.660590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.660590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377618; longitude = -174.236365; captureRadius = 10; duration = 218; initialDepth = 1667.862055; finalDepth = 1673.660590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1673.66059 # Seafloor depth:-1723.660590 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1717.862055 meters looking forward 0.000000 meters along route # Maximum depth: 1717.862055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.862055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376895; longitude = -174.235753; captureRadius = 10; duration = 218; initialDepth = 1671.618994; finalDepth = 1667.862055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1667.862055 # Seafloor depth:-1717.862055 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1721.618994 meters looking forward 0.000000 meters along route # Maximum depth: 1721.618994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.618994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376154; longitude = -174.235126; captureRadius = 10; duration = 218; initialDepth = 1691.350249; finalDepth = 1671.618994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1671.618994 # Seafloor depth:-1721.618994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1741.350249 meters looking forward 0.000000 meters along route # Maximum depth: 1741.350249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.350249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375449; longitude = -174.234531; captureRadius = 10; duration = 218; initialDepth = 1687.411945; finalDepth = 1691.350249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1691.350249 # Seafloor depth:-1741.350249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1737.411945 meters looking forward 0.000000 meters along route # Maximum depth: 1737.411945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.411945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374721; longitude = -174.233915; captureRadius = 10; duration = 218; initialDepth = 1696.636245; finalDepth = 1687.411945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1687.411945 # Seafloor depth:-1737.411945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1746.636245 meters looking forward 0.000000 meters along route # Maximum depth: 1746.636245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1696.636245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374003; longitude = -174.233309; captureRadius = 10; duration = 218; initialDepth = 1699.615558; finalDepth = 1696.636245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1696.636245 # Seafloor depth:-1746.636245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1749.615558 meters looking forward 0.000000 meters along route # Maximum depth: 1749.615558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.615558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373280; longitude = -174.232697; captureRadius = 10; duration = 218; initialDepth = 1699.180796; finalDepth = 1699.615558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.615558 # Seafloor depth:-1749.615558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1749.180796 meters looking forward 0.000000 meters along route # Maximum depth: 1749.180796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.180796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372557; longitude = -174.232086; captureRadius = 10; duration = 218; initialDepth = 1712.181437; finalDepth = 1699.180796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.180796 # Seafloor depth:-1749.180796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1762.181437 meters looking forward 0.000000 meters along route # Maximum depth: 1762.181437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.181437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371834; longitude = -174.231475; captureRadius = 10; duration = 218; initialDepth = 1727.883761; finalDepth = 1712.181437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1712.181437 # Seafloor depth:-1762.181437 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1777.883761 meters looking forward 0.000000 meters along route # Maximum depth: 1777.883761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.883761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371111; longitude = -174.230864; captureRadius = 10; duration = 218; initialDepth = 1728.468115; finalDepth = 1727.883761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1727.883761 # Seafloor depth:-1777.883761 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1778.468115 meters looking forward 0.000000 meters along route # Maximum depth: 1778.468115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.468115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370388; longitude = -174.230252; captureRadius = 10; duration = 218; initialDepth = 1753.012918; finalDepth = 1728.468115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1728.468115 # Seafloor depth:-1778.468115 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1803.012918 meters looking forward 0.000000 meters along route # Maximum depth: 1803.012918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.012918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369650; longitude = -174.229629; captureRadius = 10; duration = 218; initialDepth = 1790.798232; finalDepth = 1753.012918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1753.012918 # Seafloor depth:-1803.012918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1840.798232 meters looking forward 0.000000 meters along route # Maximum depth: 1840.798232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.798232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368942; longitude = -174.229030; captureRadius = 10; duration = 218; initialDepth = 1826.247020; finalDepth = 1790.798232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1790.798232 # Seafloor depth:-1840.798232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1876.247020 meters looking forward 0.000000 meters along route # Maximum depth: 1876.247020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.247020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368217; longitude = -174.228417; captureRadius = 10; duration = 218; initialDepth = 1837.700003; finalDepth = 1826.247020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.24702 # Seafloor depth:-1876.247020 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1887.700003 meters looking forward 0.000000 meters along route # Maximum depth: 1887.700003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.700003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367496; longitude = -174.227807; captureRadius = 10; duration = 218; initialDepth = 1846.151206; finalDepth = 1837.700003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1837.700003 # Seafloor depth:-1887.700003 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1896.151206 meters looking forward 0.000000 meters along route # Maximum depth: 1896.151206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.151206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366773; longitude = -174.227196; captureRadius = 10; duration = 218; initialDepth = 1856.607152; finalDepth = 1846.151206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1846.151206 # Seafloor depth:-1896.151206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1906.607152 meters looking forward 0.000000 meters along route # Maximum depth: 1906.607152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.607152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366050; longitude = -174.226585; captureRadius = 10; duration = 218; initialDepth = 1870.033836; finalDepth = 1856.607152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1856.607152 # Seafloor depth:-1906.607152 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1920.033836 meters looking forward 0.000000 meters along route # Maximum depth: 1920.033836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.033836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365327; longitude = -174.225974; captureRadius = 10; duration = 218; initialDepth = 1869.194553; finalDepth = 1870.033836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1870.033836 # Seafloor depth:-1920.033836 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1919.194553 meters looking forward 0.000000 meters along route # Maximum depth: 1919.194553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.194553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364580; longitude = -174.225342; captureRadius = 10; duration = 218; initialDepth = 1848.551860; finalDepth = 1869.194553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1869.194553 # Seafloor depth:-1919.194553 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1898.551860 meters looking forward 0.000000 meters along route # Maximum depth: 1898.551860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.551860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363881; longitude = -174.224751; captureRadius = 10; duration = 218; initialDepth = 1808.177398; finalDepth = 1848.551860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.55186 # Seafloor depth:-1898.551860 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1858.177398 meters looking forward 0.000000 meters along route # Maximum depth: 1858.177398 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.177398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363147; longitude = -174.224131; captureRadius = 10; duration = 218; initialDepth = 1830.631452; finalDepth = 1808.177398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1808.177398 # Seafloor depth:-1858.177398 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1880.631452 meters looking forward 0.000000 meters along route # Maximum depth: 1880.631452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.631452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362435; longitude = -174.223529; captureRadius = 10; duration = 218; initialDepth = 1879.907323; finalDepth = 1830.631452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1830.631452 # Seafloor depth:-1880.631452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1929.907323 meters looking forward 0.000000 meters along route # Maximum depth: 1929.907323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.907323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361712; longitude = -174.222917; captureRadius = 10; duration = 218; initialDepth = 1899.247837; finalDepth = 1879.907323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1879.907323 # Seafloor depth:-1929.907323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1949.247837 meters looking forward 0.000000 meters along route # Maximum depth: 1949.247837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.247837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360989; longitude = -174.222306; captureRadius = 10; duration = 218; initialDepth = 1931.360107; finalDepth = 1899.247837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1899.247837 # Seafloor depth:-1949.247837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 1981.360107 meters looking forward 0.000000 meters along route # Maximum depth: 1981.360107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.360107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360266; longitude = -174.221695; captureRadius = 10; duration = 218; initialDepth = 1964.177946; finalDepth = 1931.360107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1931.360107 # Seafloor depth:-1981.360107 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 2014.177946 meters looking forward 0.000000 meters along route # Maximum depth: 2014.177946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1964.177946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359543; longitude = -174.221084; captureRadius = 10; duration = 218; initialDepth = 1983.631167; finalDepth = 1964.177946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1964.177946 # Seafloor depth:-2014.177946 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 2033.631167 meters looking forward 0.000000 meters along route # Maximum depth: 2033.631167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1983.631167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358820; longitude = -174.220472; captureRadius = 10; duration = 218; initialDepth = 2010.094162; finalDepth = 1983.631167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1983.631167 # Seafloor depth:-2033.631167 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 2060.094162 meters looking forward 0.000000 meters along route # Maximum depth: 2060.094162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.094162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358077; longitude = -174.219844; captureRadius = 10; duration = 218; initialDepth = 2019.669019; finalDepth = 2010.094162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2010.094162 # Seafloor depth:-2060.094162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 2069.669019 meters looking forward 0.000000 meters along route # Maximum depth: 2069.669019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.669019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357374; longitude = -174.219250; captureRadius = 10; duration = 218; initialDepth = 2040.365213; finalDepth = 2019.669019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2019.669019 # Seafloor depth:-2069.669019 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 2090.365213 meters looking forward 0.000000 meters along route # Maximum depth: 2090.365213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2040.365213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356644; longitude = -174.218633; captureRadius = 10; duration = 218; initialDepth = 2043.369730; finalDepth = 2040.365213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2040.365213 # Seafloor depth:-2090.365213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.024045 meters # Minimum depth: 2093.369730 meters looking forward 0.000000 meters along route # Maximum depth: 2093.369730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.369730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355928; longitude = -174.218027; captureRadius = 10; duration = 218; initialDepth = 2066.556966; finalDepth = 2043.369730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2043.36973 # Seafloor depth:-2093.369730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 109.024045 meters # Minimum depth: 2116.556966 meters looking forward 0.000000 meters along route # Maximum depth: 2116.556966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2066.556966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355174; longitude = -174.217391; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2064.306641; finalDepth = 2066.556966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2066.556966 # Seafloor depth:-2116.556966 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 109.024045 meters # Minimum depth: 2114.306641 meters looking forward 0.000000 meters along route # Maximum depth: 2114.306641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2064.306641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354361; longitude = -174.218695; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2055.653058; finalDepth = 2064.306641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2064.306641 # Seafloor depth:-2114.306641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 2105.653058 meters looking forward 0.000000 meters along route # Maximum depth: 2105.653058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.653058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354952; longitude = -174.219192; captureRadius = 10; duration = 218; initialDepth = 2044.803267; finalDepth = 2055.653058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2055.653058 # Seafloor depth:-2105.653058 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 2094.803267 meters looking forward 0.000000 meters along route # Maximum depth: 2094.803267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.803267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355656; longitude = -174.219785; captureRadius = 10; duration = 218; initialDepth = 2011.889969; finalDepth = 2044.803267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2044.803267 # Seafloor depth:-2094.803267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 2061.889969 meters looking forward 0.000000 meters along route # Maximum depth: 2061.889969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.889969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356392; longitude = -174.220404; captureRadius = 10; duration = 218; initialDepth = 1962.959977; finalDepth = 2011.889969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2011.889969 # Seafloor depth:-2061.889969 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 2012.959977 meters looking forward 0.000000 meters along route # Maximum depth: 2012.959977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1962.959977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357102; longitude = -174.221002; captureRadius = 10; duration = 218; initialDepth = 1924.843931; finalDepth = 1962.959977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1962.959977 # Seafloor depth:-2012.959977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1974.843931 meters looking forward 0.000000 meters along route # Maximum depth: 1974.843931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.843931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357831; longitude = -174.221615; captureRadius = 10; duration = 218; initialDepth = 1900.788963; finalDepth = 1924.843931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1924.843931 # Seafloor depth:-1974.843931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1950.788963 meters looking forward 0.000000 meters along route # Maximum depth: 1950.788963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1900.788963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358548; longitude = -174.222218; captureRadius = 10; duration = 218; initialDepth = 1847.198709; finalDepth = 1900.788963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1900.788963 # Seafloor depth:-1950.788963 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1897.198709 meters looking forward 0.000000 meters along route # Maximum depth: 1897.198709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.198709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359272; longitude = -174.222827; captureRadius = 10; duration = 218; initialDepth = 1840.378330; finalDepth = 1847.198709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1847.198709 # Seafloor depth:-1897.198709 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1890.378330 meters looking forward 0.000000 meters along route # Maximum depth: 1890.378330 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.378330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359995; longitude = -174.223435; captureRadius = 10; duration = 218; initialDepth = 1796.011384; finalDepth = 1840.378330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1840.37833 # Seafloor depth:-1890.378330 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1846.011384 meters looking forward 0.000000 meters along route # Maximum depth: 1846.011384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.011384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360718; longitude = -174.224043; captureRadius = 10; duration = 218; initialDepth = 1770.853842; finalDepth = 1796.011384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1796.011384 # Seafloor depth:-1846.011384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1820.853842 meters looking forward 0.000000 meters along route # Maximum depth: 1820.853842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.853842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361441; longitude = -174.224651; captureRadius = 10; duration = 218; initialDepth = 1716.069799; finalDepth = 1770.853842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1770.853842 # Seafloor depth:-1820.853842 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1766.069799 meters looking forward 0.000000 meters along route # Maximum depth: 1766.069799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.069799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362164; longitude = -174.225260; captureRadius = 10; duration = 218; initialDepth = 1749.223388; finalDepth = 1716.069799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1716.069799 # Seafloor depth:-1766.069799 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1799.223388 meters looking forward 0.000000 meters along route # Maximum depth: 1799.223388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1749.223388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362887; longitude = -174.225868; captureRadius = 10; duration = 218; initialDepth = 1777.255308; finalDepth = 1749.223388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1749.223388 # Seafloor depth:-1799.223388 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1827.255308 meters looking forward 0.000000 meters along route # Maximum depth: 1827.255308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.255308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363610; longitude = -174.226476; captureRadius = 10; duration = 218; initialDepth = 1797.037957; finalDepth = 1777.255308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1777.255308 # Seafloor depth:-1827.255308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1847.037957 meters looking forward 0.000000 meters along route # Maximum depth: 1847.037957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.037957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364333; longitude = -174.227085; captureRadius = 10; duration = 218; initialDepth = 1828.756606; finalDepth = 1797.037957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1797.037957 # Seafloor depth:-1847.037957 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1878.756606 meters looking forward 0.000000 meters along route # Maximum depth: 1878.756606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.756606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365056; longitude = -174.227693; captureRadius = 10; duration = 218; initialDepth = 1817.398933; finalDepth = 1828.756606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1828.756606 # Seafloor depth:-1878.756606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1867.398933 meters looking forward 0.000000 meters along route # Maximum depth: 1867.398933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.398933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365779; longitude = -174.228301; captureRadius = 10; duration = 218; initialDepth = 1795.579917; finalDepth = 1817.398933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1817.398933 # Seafloor depth:-1867.398933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1845.579917 meters looking forward 0.000000 meters along route # Maximum depth: 1845.579917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.579917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366502; longitude = -174.228909; captureRadius = 10; duration = 218; initialDepth = 1747.646055; finalDepth = 1795.579917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.579917 # Seafloor depth:-1845.579917 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1797.646055 meters looking forward 0.000000 meters along route # Maximum depth: 1797.646055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.646055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367246; longitude = -174.229535; captureRadius = 10; duration = 218; initialDepth = 1735.302458; finalDepth = 1747.646055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.646055 # Seafloor depth:-1797.646055 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1785.302458 meters looking forward 0.000000 meters along route # Maximum depth: 1785.302458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.302458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367948; longitude = -174.230126; captureRadius = 10; duration = 218; initialDepth = 1698.930870; finalDepth = 1735.302458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1735.302458 # Seafloor depth:-1785.302458 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1748.930870 meters looking forward 0.000000 meters along route # Maximum depth: 1748.930870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.930870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368686; longitude = -174.230747; captureRadius = 10; duration = 218; initialDepth = 1681.498214; finalDepth = 1698.930870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1698.93087 # Seafloor depth:-1748.930870 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1731.498214 meters looking forward 0.000000 meters along route # Maximum depth: 1731.498214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.498214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369394; longitude = -174.231343; captureRadius = 10; duration = 218; initialDepth = 1665.643568; finalDepth = 1681.498214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1681.498214 # Seafloor depth:-1731.498214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1715.643568 meters looking forward 0.000000 meters along route # Maximum depth: 1715.643568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.643568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370126; longitude = -174.231958; captureRadius = 10; duration = 218; initialDepth = 1647.762945; finalDepth = 1665.643568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1665.643568 # Seafloor depth:-1715.643568 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1697.762945 meters looking forward 0.000000 meters along route # Maximum depth: 1697.762945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.762945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370840; longitude = -174.232559; captureRadius = 10; duration = 218; initialDepth = 1627.479551; finalDepth = 1647.762945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1647.762945 # Seafloor depth:-1697.762945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1677.479551 meters looking forward 0.000000 meters along route # Maximum depth: 1677.479551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.479551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371566; longitude = -174.233170; captureRadius = 10; duration = 218; initialDepth = 1622.121035; finalDepth = 1627.479551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1627.479551 # Seafloor depth:-1677.479551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1672.121035 meters looking forward 0.000000 meters along route # Maximum depth: 1672.121035 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.121035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372286; longitude = -174.233776; captureRadius = 10; duration = 218; initialDepth = 1582.277274; finalDepth = 1622.121035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1622.121035 # Seafloor depth:-1672.121035 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1632.277274 meters looking forward 0.000000 meters along route # Maximum depth: 1632.277274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.277274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373009; longitude = -174.234384; captureRadius = 10; duration = 218; initialDepth = 1583.289305; finalDepth = 1582.277274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1582.277274 # Seafloor depth:-1632.277274 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1633.289305 meters looking forward 0.000000 meters along route # Maximum depth: 1633.289305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.289305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373732; longitude = -174.234992; captureRadius = 10; duration = 218; initialDepth = 1590.629524; finalDepth = 1583.289305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1583.289305 # Seafloor depth:-1633.289305 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1640.629524 meters looking forward 0.000000 meters along route # Maximum depth: 1640.629524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.629524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374455; longitude = -174.235601; captureRadius = 10; duration = 218; initialDepth = 1600.965657; finalDepth = 1590.629524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1590.629524 # Seafloor depth:-1640.629524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1650.965657 meters looking forward 0.000000 meters along route # Maximum depth: 1650.965657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.965657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375178; longitude = -174.236209; captureRadius = 10; duration = 218; initialDepth = 1608.115347; finalDepth = 1600.965657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1600.965657 # Seafloor depth:-1650.965657 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1658.115347 meters looking forward 0.000000 meters along route # Maximum depth: 1658.115347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.115347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375901; longitude = -174.236817; captureRadius = 10; duration = 218; initialDepth = 1606.275308; finalDepth = 1608.115347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1608.115347 # Seafloor depth:-1658.115347 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1656.275308 meters looking forward 0.000000 meters along route # Maximum depth: 1656.275308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.275308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376624; longitude = -174.237425; captureRadius = 10; duration = 218; initialDepth = 1587.773392; finalDepth = 1606.275308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1606.275308 # Seafloor depth:-1656.275308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1637.773392 meters looking forward 0.000000 meters along route # Maximum depth: 1637.773392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.773392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377347; longitude = -174.238034; captureRadius = 10; duration = 218; initialDepth = 1569.844426; finalDepth = 1587.773392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1587.773392 # Seafloor depth:-1637.773392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1619.844426 meters looking forward 0.000000 meters along route # Maximum depth: 1619.844426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.844426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378070; longitude = -174.238642; captureRadius = 10; duration = 218; initialDepth = 1560.554206; finalDepth = 1569.844426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1569.844426 # Seafloor depth:-1619.844426 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1610.554206 meters looking forward 0.000000 meters along route # Maximum depth: 1610.554206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.554206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378793; longitude = -174.239250; captureRadius = 10; duration = 218; initialDepth = 1564.180476; finalDepth = 1560.554206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1560.554206 # Seafloor depth:-1610.554206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1614.180476 meters looking forward 0.000000 meters along route # Maximum depth: 1614.180476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.180476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379516; longitude = -174.239859; captureRadius = 10; duration = 218; initialDepth = 1565.459231; finalDepth = 1564.180476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1564.180476 # Seafloor depth:-1614.180476 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1615.459231 meters looking forward 0.000000 meters along route # Maximum depth: 1615.459231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.459231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380239; longitude = -174.240467; captureRadius = 10; duration = 218; initialDepth = 1590.543656; finalDepth = 1565.459231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1565.459231 # Seafloor depth:-1615.459231 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1640.543656 meters looking forward 0.000000 meters along route # Maximum depth: 1640.543656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.543656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380980; longitude = -174.241090; captureRadius = 10; duration = 218; initialDepth = 1597.753511; finalDepth = 1590.543656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1590.543656 # Seafloor depth:-1640.543656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1647.753511 meters looking forward 0.000000 meters along route # Maximum depth: 1647.753511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.753511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381685; longitude = -174.241683; captureRadius = 10; duration = 218; initialDepth = 1605.810594; finalDepth = 1597.753511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1597.753511 # Seafloor depth:-1647.753511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1655.810594 meters looking forward 0.000000 meters along route # Maximum depth: 1655.810594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.810594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382420; longitude = -174.242301; captureRadius = 10; duration = 218; initialDepth = 1597.098891; finalDepth = 1605.810594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1605.810594 # Seafloor depth:-1655.810594 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1647.098891 meters looking forward 0.000000 meters along route # Maximum depth: 1647.098891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.098891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383132; longitude = -174.242900; captureRadius = 10; duration = 218; initialDepth = 1611.183154; finalDepth = 1597.098891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1597.098891 # Seafloor depth:-1647.098891 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1661.183154 meters looking forward 0.000000 meters along route # Maximum depth: 1661.183154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.183154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383860; longitude = -174.243513; captureRadius = 10; duration = 218; initialDepth = 1616.490797; finalDepth = 1611.183154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1611.183154 # Seafloor depth:-1661.183154 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1666.490797 meters looking forward 0.000000 meters along route # Maximum depth: 1666.490797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.490797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384578; longitude = -174.244117; captureRadius = 10; duration = 218; initialDepth = 1593.584814; finalDepth = 1616.490797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.490797 # Seafloor depth:-1666.490797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1643.584814 meters looking forward 0.000000 meters along route # Maximum depth: 1643.584814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.584814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385301; longitude = -174.244725; captureRadius = 10; duration = 218; initialDepth = 1611.004025; finalDepth = 1593.584814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1593.584814 # Seafloor depth:-1643.584814 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.024045 meters # Minimum depth: 1661.004025 meters looking forward 0.000000 meters along route # Maximum depth: 1661.004025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.004025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386075; longitude = -174.245376; captureRadius = 10; duration = 218; initialDepth = 1598.556091; finalDepth = 1611.004025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1611.004025 # Seafloor depth:-1661.004025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 109.024045 meters # Minimum depth: 1648.556091 meters looking forward 0.000000 meters along route # Maximum depth: 1648.556091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.556091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386777; longitude = -174.245967; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1574.959480; finalDepth = 1598.556091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1598.556091 # Seafloor depth:-1648.556091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.024045 meters # Minimum depth: 1624.959480 meters looking forward 0.000000 meters along route # Maximum depth: 1624.959480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.959480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387831; longitude = -174.246978; captureRadius = 10; duration = 218; initialDepth = 1576.613950; finalDepth = 1574.959480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1574.95948 # Seafloor depth:-1624.959480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.024045 meters # Minimum depth: 1626.613950 meters looking forward 0.000000 meters along route # Maximum depth: 1626.613950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.613950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388493; longitude = -174.247613; captureRadius = 10; duration = 218; initialDepth = 1591.606432; finalDepth = 1576.613950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1576.61395 # Seafloor depth:-1626.613950 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.024045 meters # Minimum depth: 1641.606432 meters looking forward 0.000000 meters along route # Maximum depth: 1641.606432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1591.606432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389187; longitude = -174.248278; captureRadius = 10; duration = 218; initialDepth = 1631.257530; finalDepth = 1591.606432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1591.606432 # Seafloor depth:-1641.606432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.024045 meters # Minimum depth: 1681.257530 meters looking forward 0.000000 meters along route # Maximum depth: 1681.257530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.257530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389854; longitude = -174.248917; captureRadius = 10; duration = 218; initialDepth = 1621.641834; finalDepth = 1631.257530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1631.25753 # Seafloor depth:-1681.257530 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.024045 meters # Minimum depth: 1671.641834 meters looking forward 0.000000 meters along route # Maximum depth: 1671.641834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.641834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390543; longitude = -174.249578; captureRadius = 10; duration = 218; initialDepth = 1615.688157; finalDepth = 1621.641834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1621.641834 # Seafloor depth:-1671.641834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.024045 meters # Minimum depth: 1665.688157 meters looking forward 0.000000 meters along route # Maximum depth: 1665.688157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.688157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391266; longitude = -174.250271; captureRadius = 10; duration = 218; initialDepth = 1609.606079; finalDepth = 1615.688157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1615.688157 # Seafloor depth:-1665.688157 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 109.024045 meters # Minimum depth: 1659.606079 meters looking forward 0.000000 meters along route # Maximum depth: 1659.606079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.606079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391959; longitude = -174.250936; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1600.613197; finalDepth = 1609.606079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1609.606079 # Seafloor depth:-1659.606079 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.024045 meters # Minimum depth: 1650.613197 meters looking forward 0.000000 meters along route # Maximum depth: 1650.613197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.613197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392641; longitude = -174.252086; captureRadius = 10; duration = 218; initialDepth = 1605.898978; finalDepth = 1600.613197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1600.613197 # Seafloor depth:-1650.613197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.024045 meters # Minimum depth: 1655.898978 meters looking forward 0.000000 meters along route # Maximum depth: 1655.898978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.898978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393164; longitude = -174.252967; captureRadius = 10; duration = 218; initialDepth = 1606.469920; finalDepth = 1605.898978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1605.898978 # Seafloor depth:-1655.898978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.024045 meters # Minimum depth: 1656.469920 meters looking forward 0.000000 meters along route # Maximum depth: 1656.469920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.469920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393636; longitude = -174.253763; captureRadius = 10; duration = 218; initialDepth = 1616.312867; finalDepth = 1606.469920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1606.46992 # Seafloor depth:-1656.469920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.024045 meters # Minimum depth: 1666.312867 meters looking forward 0.000000 meters along route # Maximum depth: 1666.312867 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.312867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394158; longitude = -174.254643; captureRadius = 10; duration = 218; initialDepth = 1616.062149; finalDepth = 1616.312867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.312867 # Seafloor depth:-1666.312867 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.024045 meters # Minimum depth: 1666.062149 meters looking forward 0.000000 meters along route # Maximum depth: 1666.062149 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.062149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394631; longitude = -174.255440; captureRadius = 10; duration = 218; initialDepth = 1628.118545; finalDepth = 1616.062149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.062149 # Seafloor depth:-1666.062149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.024045 meters # Minimum depth: 1678.118545 meters looking forward 0.000000 meters along route # Maximum depth: 1678.118545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.118545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395128; longitude = -174.256279; captureRadius = 10; duration = 218; initialDepth = 1636.184563; finalDepth = 1628.118545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1628.118545 # Seafloor depth:-1678.118545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.024045 meters # Minimum depth: 1686.184563 meters looking forward 0.000000 meters along route # Maximum depth: 1686.184563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.184563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395604; longitude = -174.257081; captureRadius = 10; duration = 218; initialDepth = 1648.564972; finalDepth = 1636.184563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1636.184563 # Seafloor depth:-1686.184563 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 109.024045 meters # Minimum depth: 1698.564972 meters looking forward 0.000000 meters along route # Maximum depth: 1698.564972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.564972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396086; longitude = -174.257894; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 1651.834750; finalDepth = 1648.564972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1648.564972 # Seafloor depth:-1698.564972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1701.834750 meters looking forward 0.000000 meters along route # Maximum depth: 1701.834750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.834750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396821; longitude = -174.258795; captureRadius = 10; duration = 218; initialDepth = 1642.490899; finalDepth = 1651.834750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1651.83475 # Seafloor depth:-1701.834750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1692.490899 meters looking forward 0.000000 meters along route # Maximum depth: 1692.490899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.490899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397429; longitude = -174.259540; captureRadius = 10; duration = 218; initialDepth = 1662.598177; finalDepth = 1642.490899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1642.490899 # Seafloor depth:-1692.490899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1712.598177 meters looking forward 0.000000 meters along route # Maximum depth: 1712.598177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.598177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398044; longitude = -174.260293; captureRadius = 10; duration = 218; initialDepth = 1678.333696; finalDepth = 1662.598177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1662.598177 # Seafloor depth:-1712.598177 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1728.333696 meters looking forward 0.000000 meters along route # Maximum depth: 1728.333696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.333696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398646; longitude = -174.261031; captureRadius = 10; duration = 218; initialDepth = 1699.908460; finalDepth = 1678.333696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1678.333696 # Seafloor depth:-1728.333696 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1749.908460 meters looking forward 0.000000 meters along route # Maximum depth: 1749.908460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.908460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399255; longitude = -174.261776; captureRadius = 10; duration = 218; initialDepth = 1711.429641; finalDepth = 1699.908460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.90846 # Seafloor depth:-1749.908460 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1761.429641 meters looking forward 0.000000 meters along route # Maximum depth: 1761.429641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.429641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399863; longitude = -174.262522; captureRadius = 10; duration = 218; initialDepth = 1727.869584; finalDepth = 1711.429641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.429641 # Seafloor depth:-1761.429641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1777.869584 meters looking forward 0.000000 meters along route # Maximum depth: 1777.869584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.869584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400484; longitude = -174.263283; captureRadius = 10; duration = 218; initialDepth = 1744.315783; finalDepth = 1727.869584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1727.869584 # Seafloor depth:-1777.869584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1794.315783 meters looking forward 0.000000 meters along route # Maximum depth: 1794.315783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.315783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401080; longitude = -174.264013; captureRadius = 10; duration = 218; initialDepth = 1755.547785; finalDepth = 1744.315783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1744.315783 # Seafloor depth:-1794.315783 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.024045 meters # Minimum depth: 1805.547785 meters looking forward 0.000000 meters along route # Maximum depth: 1805.547785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2148.093424 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.547785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401688; longitude = -174.264758; captureRadius = 10; duration = 218; initialDepth = 1763.299347; finalDepth = 1755.547785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1755.547785 # Seafloor depth:-1805.547785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:1763.299347 # Seafloor depth:-1813.299347 # behavior reson { duration = 6; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 109.024045 meters # Minimum depth: 1813.299347 meters looking forward 0.000000 meters along route # Maximum depth: 1813.299347 meters looking forward 0.000000 meters along route # Vehicle depth: 1763.299347 meters behavior waypoint { latitude = -15.402322; longitude = -174.265535; captureRadius = 10; duration = 1000; depth = 1763.299347; speed = 1.500000; } behavior setpoint { duration = 300; heading = 50.655621; speed = 0.0; verticalMode = pitch; pitch = 0; } # # 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 1763.299347 meters set by local depth and desired altitude behavior descend { duration = 5218; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1753.299347; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # #behavior acousticUpdate #{ #duration = 2; #dummy = 1; #} # # Waypoint behavior to get to start of line 1 # Segment length 109.024045 meters # Minimum depth: 1813.299347 meters looking forward 0.000000 meters along route # Maximum depth: 1813.299347 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = -15.402322; longitude = -174.265535; captureRadius = 10; duration = 1000; depth = 30.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 50.655621; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 50.655621; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################