# 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_1v9.rte # Mission File: MAUV_Tafu_1v9.cfg # Distance: 78490.515243 (m) # Estimated Time: 55976 (s) 15.549 (hr) # Abort Time: 60760 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2239 (s) # Way Points: 55 # Route Points: 744 # 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: 2107.473633 (m) # Abort Vehicle Depth: 2132.473633 (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 -174.263951 -15.401328 -1796.851044 0.000000 3 # 1 -174.265286 -15.397924 -1802.503479 403.271757 3 # 2 -174.251558 -15.386686 -1848.879333 2332.828635 4 # 3 -174.250626 -15.387590 -1772.657349 2474.405388 3 # 4 -174.264355 -15.399008 -1805.198120 4416.952856 4 # 5 -174.263423 -15.399912 -1780.691162 4558.524087 3 # 6 -174.249601 -15.388584 -1661.255432 6502.217892 4 # 7 -174.248669 -15.389579 -1667.663879 6651.088969 3 # 8 -174.262460 -15.400966 -1779.594208 8596.463794 1 # 9 -174.279543 -15.415909 -1848.574463 11067.236256 4 # 10 -174.280351 -15.414885 -1874.464142 11210.021690 3 # 11 -174.262864 -15.399460 -1768.163757 13748.791399 4 # 12 -174.263795 -15.398556 -1791.488220 13890.286898 3 # 13 -174.281314 -15.413830 -1890.915894 16420.398952 4 # 14 -174.282152 -15.412836 -1892.806763 16562.579301 3 # 15 -174.264168 -15.396929 -1812.876221 19176.766496 4 # 16 -174.260441 -15.400996 -1794.191132 19779.324972 3 # 17 -174.278611 -15.416903 -1824.968262 22408.290167 1 # 18 -174.290415 -15.432057 -1831.749207 24511.329920 4 # 19 -174.291533 -15.431243 -1847.770142 24661.467164 3 # 20 -174.278984 -15.415457 -1845.721863 26868.686678 4 # 21 -174.279823 -15.414372 -1872.113800 27018.866648 3 # 22 -174.292589 -15.430460 -1890.383972 29266.801738 4 # 23 -174.293676 -15.429526 -1867.102448 29422.764828 3 # 24 -174.280630 -15.413167 -1891.986511 31712.830977 4 # 25 -174.281562 -15.412264 -1888.964813 31854.317626 3 # 26 -174.293210 -15.426995 -1860.491974 33909.954038 4 # 27 -174.287930 -15.431183 -1709.083618 34642.494220 3 # 28 -174.277555 -15.417867 -1817.237152 36490.636506 4 # 29 -174.259509 -15.402171 -1881.450409 39094.069281 1 # 30 -174.246650 -15.391507 -1784.783508 40911.314807 4 # 31 -174.247768 -15.390512 -1693.421722 41074.295732 3 # 32 -174.261062 -15.401599 -1805.098419 42957.504167 4 # 33 -174.259043 -15.403617 -1965.793610 43268.895344 3 # 34 -174.246650 -15.393224 -1850.778870 45028.611652 4 # 35 -174.248048 -15.390964 -1692.213562 45320.461841 3 # 36 -174.233325 -15.377317 -1868.163177 47507.968052 1 # 37 -174.218012 -15.354150 -2107.539307 50555.491921 4 # 38 -174.219254 -15.353367 -2132.473633 50714.632993 3 # 39 -174.234412 -15.376383 -1771.949799 53739.096957 1 # 40 -174.249135 -15.389940 -1679.112427 55919.734393 4 # 41 -174.250067 -15.388946 -1674.216309 56068.523375 3 # 42 -174.235530 -15.375479 -1668.449615 58227.820110 1 # 43 -174.220435 -15.352885 -2132.129089 61209.327996 4 # 44 -174.221770 -15.352011 -2076.341919 61382.364684 3 # 45 -174.236493 -15.374515 -1687.443878 64333.904089 1 # 46 -174.251029 -15.387982 -1775.639771 66493.126620 4 # 47 -174.247209 -15.391868 -1759.916341 67087.738465 3 # 48 -174.232455 -15.378281 -1951.809896 69273.056701 4 # 49 -174.237425 -15.373702 -1702.039388 70009.376716 3 # 50 -174.252241 -15.387078 -1837.027344 72183.583450 4 # 51 -174.253701 -15.386777 -1868.663411 72343.920079 3 # 52 -174.264976 -15.395815 -1902.770996 73915.071164 1 # 53 -174.282494 -15.411269 -1970.872884 76458.563952 1 # 54 -174.294142 -15.425730 -1866.543294 78490.515243 4 # # A total of 744 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 78490.515243 #define MISSION_TIME 55976 #define MISSION_TIMEOUT 59400 #define DEPTH_MAX 2107.473633 #define DEPTH_ABORT 2132.473633 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 35.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 1736.851044 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2239; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 103.134519 meters # Minimum depth: 1866.543294 meters looking forward 0.000000 meters along route # Maximum depth: 1866.543294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.543294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425730; longitude = -174.294142; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1827.766365; finalDepth = 1816.543294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1816.543294 # Seafloor depth:-1866.543294 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1877.766365 meters looking forward 0.000000 meters along route # Maximum depth: 1877.766365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.766365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425067; longitude = -174.293608; captureRadius = 10; duration = 206; initialDepth = 1802.780388; finalDepth = 1827.766365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1827.766365 # Seafloor depth:-1877.766365 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1852.780388 meters looking forward 0.000000 meters along route # Maximum depth: 1852.780388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.780388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424344; longitude = -174.293026; captureRadius = 10; duration = 206; initialDepth = 1793.477826; finalDepth = 1802.780388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1802.780388 # Seafloor depth:-1852.780388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1843.477826 meters looking forward 0.000000 meters along route # Maximum depth: 1843.477826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.477826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423621; longitude = -174.292443; captureRadius = 10; duration = 206; initialDepth = 1797.846568; finalDepth = 1793.477826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1793.477826 # Seafloor depth:-1843.477826 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1847.846568 meters looking forward 0.000000 meters along route # Maximum depth: 1847.846568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.846568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422898; longitude = -174.291861; captureRadius = 10; duration = 206; initialDepth = 1810.354095; finalDepth = 1797.846568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1797.846568 # Seafloor depth:-1847.846568 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1860.354095 meters looking forward 0.000000 meters along route # Maximum depth: 1860.354095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.354095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422175; longitude = -174.291278; captureRadius = 10; duration = 206; initialDepth = 1820.997569; finalDepth = 1810.354095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1810.354095 # Seafloor depth:-1860.354095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1870.997569 meters looking forward 0.000000 meters along route # Maximum depth: 1870.997569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.997569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421452; longitude = -174.290696; captureRadius = 10; duration = 206; initialDepth = 1805.419184; finalDepth = 1820.997569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1820.997569 # Seafloor depth:-1870.997569 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1855.419184 meters looking forward 0.000000 meters along route # Maximum depth: 1855.419184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.419184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420729; longitude = -174.290114; captureRadius = 10; duration = 206; initialDepth = 1788.623820; finalDepth = 1805.419184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1805.419184 # Seafloor depth:-1855.419184 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1838.623820 meters looking forward 0.000000 meters along route # Maximum depth: 1838.623820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.623820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420006; longitude = -174.289531; captureRadius = 10; duration = 206; initialDepth = 1780.234037; finalDepth = 1788.623820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1788.62382 # Seafloor depth:-1838.623820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1830.234037 meters looking forward 0.000000 meters along route # Maximum depth: 1830.234037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.234037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419283; longitude = -174.288949; captureRadius = 10; duration = 206; initialDepth = 1764.936900; finalDepth = 1780.234037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1780.234037 # Seafloor depth:-1830.234037 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1814.936900 meters looking forward 0.000000 meters along route # Maximum depth: 1814.936900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.936900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418560; longitude = -174.288366; captureRadius = 10; duration = 206; initialDepth = 1776.800896; finalDepth = 1764.936900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1764.9369 # Seafloor depth:-1814.936900 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1826.800896 meters looking forward 0.000000 meters along route # Maximum depth: 1826.800896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.800896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417837; longitude = -174.287784; captureRadius = 10; duration = 206; initialDepth = 1806.523766; finalDepth = 1776.800896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.800896 # Seafloor depth:-1826.800896 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1856.523766 meters looking forward 0.000000 meters along route # Maximum depth: 1856.523766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.523766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417114; longitude = -174.287202; captureRadius = 10; duration = 206; initialDepth = 1829.579043; finalDepth = 1806.523766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1806.523766 # Seafloor depth:-1856.523766 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1879.579043 meters looking forward 0.000000 meters along route # Maximum depth: 1879.579043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.579043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416391; longitude = -174.286619; captureRadius = 10; duration = 206; initialDepth = 1855.408933; finalDepth = 1829.579043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.579043 # Seafloor depth:-1879.579043 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1905.408933 meters looking forward 0.000000 meters along route # Maximum depth: 1905.408933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.408933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415668; longitude = -174.286037; captureRadius = 10; duration = 206; initialDepth = 1865.387957; finalDepth = 1855.408933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1855.408933 # Seafloor depth:-1905.408933 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1915.387957 meters looking forward 0.000000 meters along route # Maximum depth: 1915.387957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1865.387957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414945; longitude = -174.285455; captureRadius = 10; duration = 206; initialDepth = 1888.648163; finalDepth = 1865.387957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1865.387957 # Seafloor depth:-1915.387957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1938.648163 meters looking forward 0.000000 meters along route # Maximum depth: 1938.648163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.648163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414222; longitude = -174.284872; captureRadius = 10; duration = 206; initialDepth = 1914.001663; finalDepth = 1888.648163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1888.648163 # Seafloor depth:-1938.648163 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1964.001663 meters looking forward 0.000000 meters along route # Maximum depth: 1964.001663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1914.001663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413499; longitude = -174.284290; captureRadius = 10; duration = 206; initialDepth = 1933.331281; finalDepth = 1914.001663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1914.001663 # Seafloor depth:-1964.001663 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1983.331281 meters looking forward 0.000000 meters along route # Maximum depth: 1983.331281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1933.331281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412776; longitude = -174.283707; captureRadius = 10; duration = 206; initialDepth = 1912.362093; finalDepth = 1933.331281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1933.331281 # Seafloor depth:-1983.331281 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.134519 meters # Minimum depth: 1962.362093 meters looking forward 0.000000 meters along route # Maximum depth: 1962.362093 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.362093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412041; longitude = -174.283115; captureRadius = 10; duration = 206; initialDepth = 1920.872884; finalDepth = 1912.362093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1912.362093 # Seafloor depth:-1962.362093 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 103.134519 meters # Minimum depth: 1970.872884 meters looking forward 0.000000 meters along route # Maximum depth: 1970.872884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1920.872884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411269; longitude = -174.282494; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1929.910809; finalDepth = 1920.872884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1920.872884 # Seafloor depth:-1970.872884 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1979.910809 meters looking forward 0.000000 meters along route # Maximum depth: 1979.910809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1929.910809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410420; longitude = -174.281531; captureRadius = 10; duration = 206; initialDepth = 1913.110010; finalDepth = 1929.910809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1929.910809 # Seafloor depth:-1979.910809 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1963.110010 meters looking forward 0.000000 meters along route # Maximum depth: 1963.110010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1913.110010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409793; longitude = -174.280821; captureRadius = 10; duration = 206; initialDepth = 1911.928739; finalDepth = 1913.110010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1913.11001 # Seafloor depth:-1963.110010 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1961.928739 meters looking forward 0.000000 meters along route # Maximum depth: 1961.928739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.928739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409161; longitude = -174.280104; captureRadius = 10; duration = 206; initialDepth = 1915.700803; finalDepth = 1911.928739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1911.928739 # Seafloor depth:-1961.928739 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1965.700803 meters looking forward 0.000000 meters along route # Maximum depth: 1965.700803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.700803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408528; longitude = -174.279386; captureRadius = 10; duration = 206; initialDepth = 1919.847448; finalDepth = 1915.700803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1915.700803 # Seafloor depth:-1965.700803 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1969.847448 meters looking forward 0.000000 meters along route # Maximum depth: 1969.847448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.847448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407872; longitude = -174.278642; captureRadius = 10; duration = 206; initialDepth = 1932.090780; finalDepth = 1919.847448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1919.847448 # Seafloor depth:-1969.847448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1982.090780 meters looking forward 0.000000 meters along route # Maximum depth: 1982.090780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.090780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407263; longitude = -174.277952; captureRadius = 10; duration = 206; initialDepth = 1912.849736; finalDepth = 1932.090780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1932.09078 # Seafloor depth:-1982.090780 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1962.849736 meters looking forward 0.000000 meters along route # Maximum depth: 1962.849736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.849736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406630; longitude = -174.277235; captureRadius = 10; duration = 206; initialDepth = 1936.376771; finalDepth = 1912.849736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1912.849736 # Seafloor depth:-1962.849736 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1986.376771 meters looking forward 0.000000 meters along route # Maximum depth: 1986.376771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.376771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405981; longitude = -174.276499; captureRadius = 10; duration = 206; initialDepth = 1962.841351; finalDepth = 1936.376771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1936.376771 # Seafloor depth:-1986.376771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 2012.841351 meters looking forward 0.000000 meters along route # Maximum depth: 2012.841351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1962.841351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405365; longitude = -174.275801; captureRadius = 10; duration = 206; initialDepth = 1979.174467; finalDepth = 1962.841351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1962.841351 # Seafloor depth:-2012.841351 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 2029.174467 meters looking forward 0.000000 meters along route # Maximum depth: 2029.174467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1979.174467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404732; longitude = -174.275084; captureRadius = 10; duration = 206; initialDepth = 2000.900244; finalDepth = 1979.174467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1979.174467 # Seafloor depth:-2029.174467 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 2050.900244 meters looking forward 0.000000 meters along route # Maximum depth: 2050.900244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2000.900244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404090; longitude = -174.274356; captureRadius = 10; duration = 206; initialDepth = 1993.741050; finalDepth = 2000.900244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2000.900244 # Seafloor depth:-2050.900244 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 2043.741050 meters looking forward 0.000000 meters along route # Maximum depth: 2043.741050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.741050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403467; longitude = -174.273650; captureRadius = 10; duration = 206; initialDepth = 1960.631771; finalDepth = 1993.741050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1993.74105 # Seafloor depth:-2043.741050 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 2010.631771 meters looking forward 0.000000 meters along route # Maximum depth: 2010.631771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1960.631771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402834; longitude = -174.272932; captureRadius = 10; duration = 206; initialDepth = 1954.495630; finalDepth = 1960.631771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1960.631771 # Seafloor depth:-2010.631771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 2004.495630 meters looking forward 0.000000 meters along route # Maximum depth: 2004.495630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1954.495630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402199; longitude = -174.272213; captureRadius = 10; duration = 206; initialDepth = 1949.378491; finalDepth = 1954.495630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1954.49563 # Seafloor depth:-2004.495630 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1999.378491 meters looking forward 0.000000 meters along route # Maximum depth: 1999.378491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1949.378491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401569; longitude = -174.271498; captureRadius = 10; duration = 206; initialDepth = 1931.424829; finalDepth = 1949.378491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1949.378491 # Seafloor depth:-1999.378491 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1981.424829 meters looking forward 0.000000 meters along route # Maximum depth: 1981.424829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1931.424829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400936; longitude = -174.270781; captureRadius = 10; duration = 206; initialDepth = 1922.280849; finalDepth = 1931.424829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1931.424829 # Seafloor depth:-1981.424829 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1972.280849 meters looking forward 0.000000 meters along route # Maximum depth: 1972.280849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1922.280849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400304; longitude = -174.270064; captureRadius = 10; duration = 206; initialDepth = 1919.844598; finalDepth = 1922.280849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1922.280849 # Seafloor depth:-1972.280849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1969.844598 meters looking forward 0.000000 meters along route # Maximum depth: 1969.844598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.844598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399651; longitude = -174.269324; captureRadius = 10; duration = 206; initialDepth = 1893.762630; finalDepth = 1919.844598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1919.844598 # Seafloor depth:-1969.844598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1943.762630 meters looking forward 0.000000 meters along route # Maximum depth: 1943.762630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.762630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399038; longitude = -174.268630; captureRadius = 10; duration = 206; initialDepth = 1889.118953; finalDepth = 1893.762630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1893.76263 # Seafloor depth:-1943.762630 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1939.118953 meters looking forward 0.000000 meters along route # Maximum depth: 1939.118953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1889.118953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398406; longitude = -174.267913; captureRadius = 10; duration = 206; initialDepth = 1851.902133; finalDepth = 1889.118953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1889.118953 # Seafloor depth:-1939.118953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1901.902133 meters looking forward 0.000000 meters along route # Maximum depth: 1901.902133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.902133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397760; longitude = -174.267181; captureRadius = 10; duration = 206; initialDepth = 1861.480153; finalDepth = 1851.902133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1851.902133 # Seafloor depth:-1901.902133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1911.480153 meters looking forward 0.000000 meters along route # Maximum depth: 1911.480153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.480153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397103; longitude = -174.266436; captureRadius = 10; duration = 206; initialDepth = 1849.859283; finalDepth = 1861.480153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1861.480153 # Seafloor depth:-1911.480153 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.134519 meters # Minimum depth: 1899.859283 meters looking forward 0.000000 meters along route # Maximum depth: 1899.859283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.859283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396445; longitude = -174.265690; captureRadius = 10; duration = 206; initialDepth = 1852.770996; finalDepth = 1849.859283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1849.859283 # Seafloor depth:-1899.859283 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 103.134519 meters # Minimum depth: 1902.770996 meters looking forward 0.000000 meters along route # Maximum depth: 1902.770996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.770996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395815; longitude = -174.264976; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1846.171596; finalDepth = 1852.770996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1852.770996 # Seafloor depth:-1902.770996 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1896.171596 meters looking forward 0.000000 meters along route # Maximum depth: 1896.171596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.171596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395192; longitude = -174.264199; captureRadius = 10; duration = 206; initialDepth = 1853.973940; finalDepth = 1846.171596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1846.171596 # Seafloor depth:-1896.171596 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1903.973940 meters looking forward 0.000000 meters along route # Maximum depth: 1903.973940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.973940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394595; longitude = -174.263454; captureRadius = 10; duration = 206; initialDepth = 1844.557086; finalDepth = 1853.973940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1853.97394 # Seafloor depth:-1903.973940 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1894.557086 meters looking forward 0.000000 meters along route # Maximum depth: 1894.557086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.557086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393977; longitude = -174.262683; captureRadius = 10; duration = 206; initialDepth = 1837.650627; finalDepth = 1844.557086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1844.557086 # Seafloor depth:-1894.557086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1887.650627 meters looking forward 0.000000 meters along route # Maximum depth: 1887.650627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.650627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393400; longitude = -174.261963; captureRadius = 10; duration = 206; initialDepth = 1826.168945; finalDepth = 1837.650627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1837.650627 # Seafloor depth:-1887.650627 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1876.168945 meters looking forward 0.000000 meters along route # Maximum depth: 1876.168945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.168945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392802; longitude = -174.261217; captureRadius = 10; duration = 206; initialDepth = 1836.615844; finalDepth = 1826.168945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.168945 # Seafloor depth:-1876.168945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1886.615844 meters looking forward 0.000000 meters along route # Maximum depth: 1886.615844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.615844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392205; longitude = -174.260472; captureRadius = 10; duration = 206; initialDepth = 1855.534053; finalDepth = 1836.615844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1836.615844 # Seafloor depth:-1886.615844 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1905.534053 meters looking forward 0.000000 meters along route # Maximum depth: 1905.534053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1855.534053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391607; longitude = -174.259726; captureRadius = 10; duration = 206; initialDepth = 1879.585425; finalDepth = 1855.534053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1855.534053 # Seafloor depth:-1905.534053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1929.585425 meters looking forward 0.000000 meters along route # Maximum depth: 1929.585425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.585425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390994; longitude = -174.258962; captureRadius = 10; duration = 206; initialDepth = 1866.092130; finalDepth = 1879.585425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1879.585425 # Seafloor depth:-1929.585425 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1916.092130 meters looking forward 0.000000 meters along route # Maximum depth: 1916.092130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.092130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390412; longitude = -174.258236; captureRadius = 10; duration = 206; initialDepth = 1842.537737; finalDepth = 1866.092130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1866.09213 # Seafloor depth:-1916.092130 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1892.537737 meters looking forward 0.000000 meters along route # Maximum depth: 1892.537737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.537737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389814; longitude = -174.257490; captureRadius = 10; duration = 206; initialDepth = 1818.757404; finalDepth = 1842.537737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.537737 # Seafloor depth:-1892.537737 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1868.757404 meters looking forward 0.000000 meters along route # Maximum depth: 1868.757404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.757404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389217; longitude = -174.256745; captureRadius = 10; duration = 206; initialDepth = 1806.778521; finalDepth = 1818.757404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.757404 # Seafloor depth:-1868.757404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1856.778521 meters looking forward 0.000000 meters along route # Maximum depth: 1856.778521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.778521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388619; longitude = -174.255999; captureRadius = 10; duration = 206; initialDepth = 1830.779435; finalDepth = 1806.778521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1806.778521 # Seafloor depth:-1856.778521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1880.779435 meters looking forward 0.000000 meters along route # Maximum depth: 1880.779435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.779435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388012; longitude = -174.255242; captureRadius = 10; duration = 206; initialDepth = 1825.031860; finalDepth = 1830.779435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1830.779435 # Seafloor depth:-1880.779435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 103.134519 meters # Minimum depth: 1875.031860 meters looking forward 0.000000 meters along route # Maximum depth: 1875.031860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.031860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387379; longitude = -174.254452; captureRadius = 10; duration = 206; initialDepth = 1818.663411; finalDepth = 1825.031860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.03186 # Seafloor depth:-1875.031860 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 103.134519 meters # Minimum depth: 1868.663411 meters looking forward 0.000000 meters along route # Maximum depth: 1868.663411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.663411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386777; longitude = -174.253701; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1787.027344; finalDepth = 1818.663411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.663411 # Seafloor depth:-1868.663411 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 103.134519 meters # Minimum depth: 1837.027344 meters looking forward 0.000000 meters along route # Maximum depth: 1837.027344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.027344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387078; longitude = -174.252241; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1804.437647; finalDepth = 1787.027344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1787.027344 # Seafloor depth:-1837.027344 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1854.437647 meters looking forward 0.000000 meters along route # Maximum depth: 1854.437647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.437647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386385; longitude = -174.251473; captureRadius = 10; duration = 206; initialDepth = 1788.729238; finalDepth = 1804.437647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1804.437647 # Seafloor depth:-1854.437647 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1838.729238 meters looking forward 0.000000 meters along route # Maximum depth: 1838.729238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.729238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385753; longitude = -174.250773; captureRadius = 10; duration = 206; initialDepth = 1779.169101; finalDepth = 1788.729238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1788.729238 # Seafloor depth:-1838.729238 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1829.169101 meters looking forward 0.000000 meters along route # Maximum depth: 1829.169101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.169101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385120; longitude = -174.250072; captureRadius = 10; duration = 206; initialDepth = 1772.930446; finalDepth = 1779.169101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.169101 # Seafloor depth:-1829.169101 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1822.930446 meters looking forward 0.000000 meters along route # Maximum depth: 1822.930446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.930446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384487; longitude = -174.249371; captureRadius = 10; duration = 206; initialDepth = 1771.909419; finalDepth = 1772.930446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1772.930446 # Seafloor depth:-1822.930446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1821.909419 meters looking forward 0.000000 meters along route # Maximum depth: 1821.909419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.909419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383855; longitude = -174.248670; captureRadius = 10; duration = 206; initialDepth = 1763.230337; finalDepth = 1771.909419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.909419 # Seafloor depth:-1821.909419 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1813.230337 meters looking forward 0.000000 meters along route # Maximum depth: 1813.230337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.230337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383222; longitude = -174.247970; captureRadius = 10; duration = 206; initialDepth = 1742.934999; finalDepth = 1763.230337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1763.230337 # Seafloor depth:-1813.230337 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1792.934999 meters looking forward 0.000000 meters along route # Maximum depth: 1792.934999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.934999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382589; longitude = -174.247269; captureRadius = 10; duration = 206; initialDepth = 1736.872548; finalDepth = 1742.934999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1742.934999 # Seafloor depth:-1792.934999 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1786.872548 meters looking forward 0.000000 meters along route # Maximum depth: 1786.872548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.872548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381957; longitude = -174.246568; captureRadius = 10; duration = 206; initialDepth = 1737.531241; finalDepth = 1736.872548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1736.872548 # Seafloor depth:-1786.872548 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1787.531241 meters looking forward 0.000000 meters along route # Maximum depth: 1787.531241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.531241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381324; longitude = -174.245867; captureRadius = 10; duration = 206; initialDepth = 1733.073313; finalDepth = 1737.531241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1737.531241 # Seafloor depth:-1787.531241 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1783.073313 meters looking forward 0.000000 meters along route # Maximum depth: 1783.073313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.073313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380691; longitude = -174.245167; captureRadius = 10; duration = 206; initialDepth = 1739.205530; finalDepth = 1733.073313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1733.073313 # Seafloor depth:-1783.073313 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1789.205530 meters looking forward 0.000000 meters along route # Maximum depth: 1789.205530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.205530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380059; longitude = -174.244466; captureRadius = 10; duration = 206; initialDepth = 1753.542696; finalDepth = 1739.205530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1739.20553 # Seafloor depth:-1789.205530 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1803.542696 meters looking forward 0.000000 meters along route # Maximum depth: 1803.542696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.542696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379426; longitude = -174.243765; captureRadius = 10; duration = 206; initialDepth = 1747.839722; finalDepth = 1753.542696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1753.542696 # Seafloor depth:-1803.542696 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1797.839722 meters looking forward 0.000000 meters along route # Maximum depth: 1797.839722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.839722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378778; longitude = -174.243047; captureRadius = 10; duration = 206; initialDepth = 1727.019897; finalDepth = 1747.839722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.839722 # Seafloor depth:-1797.839722 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1777.019897 meters looking forward 0.000000 meters along route # Maximum depth: 1777.019897 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1727.019897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378161; longitude = -174.242364; captureRadius = 10; duration = 206; initialDepth = 1737.528996; finalDepth = 1727.019897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1727.019897 # Seafloor depth:-1777.019897 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1787.528996 meters looking forward 0.000000 meters along route # Maximum depth: 1787.528996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.528996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377516; longitude = -174.241649; captureRadius = 10; duration = 206; initialDepth = 1734.169343; finalDepth = 1737.528996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1737.528996 # Seafloor depth:-1787.528996 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1784.169343 meters looking forward 0.000000 meters along route # Maximum depth: 1784.169343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.169343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376895; longitude = -174.240962; captureRadius = 10; duration = 206; initialDepth = 1737.250618; finalDepth = 1734.169343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1734.169343 # Seafloor depth:-1784.169343 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1787.250618 meters looking forward 0.000000 meters along route # Maximum depth: 1787.250618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.250618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376254; longitude = -174.240251; captureRadius = 10; duration = 206; initialDepth = 1713.716651; finalDepth = 1737.250618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1737.250618 # Seafloor depth:-1787.250618 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1763.716651 meters looking forward 0.000000 meters along route # Maximum depth: 1763.716651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.716651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375630; longitude = -174.239560; captureRadius = 10; duration = 206; initialDepth = 1654.423744; finalDepth = 1713.716651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1713.716651 # Seafloor depth:-1763.716651 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1704.423744 meters looking forward 0.000000 meters along route # Maximum depth: 1704.423744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.423744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374992; longitude = -174.238854; captureRadius = 10; duration = 206; initialDepth = 1653.381222; finalDepth = 1654.423744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1654.423744 # Seafloor depth:-1704.423744 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.134519 meters # Minimum depth: 1703.381222 meters looking forward 0.000000 meters along route # Maximum depth: 1703.381222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.381222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374319; longitude = -174.238108; captureRadius = 10; duration = 206; initialDepth = 1652.039388; finalDepth = 1653.381222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1653.381222 # Seafloor depth:-1703.381222 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 103.134519 meters # Minimum depth: 1702.039388 meters looking forward 0.000000 meters along route # Maximum depth: 1702.039388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.039388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373702; longitude = -174.237425; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1649.109015; finalDepth = 1652.039388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1652.039388 # Seafloor depth:-1702.039388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 103.134519 meters # Minimum depth: 1699.109015 meters looking forward 0.000000 meters along route # Maximum depth: 1699.109015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.109015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374455; longitude = -174.236607; captureRadius = 10; duration = 206; initialDepth = 1603.879478; finalDepth = 1649.109015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1649.109015 # Seafloor depth:-1699.109015 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 103.134519 meters # Minimum depth: 1653.879478 meters looking forward 0.000000 meters along route # Maximum depth: 1653.879478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.879478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375088; longitude = -174.235921; captureRadius = 10; duration = 206; initialDepth = 1646.433478; finalDepth = 1603.879478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1603.879478 # Seafloor depth:-1653.879478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 103.134519 meters # Minimum depth: 1696.433478 meters looking forward 0.000000 meters along route # Maximum depth: 1696.433478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.433478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375720; longitude = -174.235234; captureRadius = 10; duration = 206; initialDepth = 1698.266694; finalDepth = 1646.433478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1646.433478 # Seafloor depth:-1696.433478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 103.134519 meters # Minimum depth: 1762.006425 meters looking forward 0.000000 meters along route # Maximum depth: 1762.006425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.266694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376353; longitude = -174.234548; captureRadius = 10; duration = 206; initialDepth = 1750.099856; finalDepth = 1698.266694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.7397311412842 # Actual altitude: 63.7397311412842 # Commanded vehicle depth:1698.26669385872 # Seafloor depth:-1762.006425 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 254.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.24; MB_Bottom_Detect_Filter_Max_Range = 254.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 103.134519 meters # Minimum depth: 1829.620490 meters looking forward 0.000000 meters along route # Maximum depth: 1829.620490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.099856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376986; longitude = -174.233861; captureRadius = 10; duration = 206; initialDepth = 1802.303202; finalDepth = 1750.099856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.520633782739 # Actual altitude: 79.520633782739 # Commanded vehicle depth:1750.09985621726 # Seafloor depth:-1829.620490 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 318.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.71; MB_Bottom_Detect_Filter_Max_Range = 318.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 103.134519 meters # Minimum depth: 1887.825580 meters looking forward 0.000000 meters along route # Maximum depth: 1887.825580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.303202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377623; longitude = -174.233170; captureRadius = 10; duration = 206; initialDepth = 1856.234262; finalDepth = 1802.303202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 85.5223779448315 # Actual altitude: 85.5223779448315 # Commanded vehicle depth:1802.30320205517 # Seafloor depth:-1887.825580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 342.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 51.31; MB_Bottom_Detect_Filter_Max_Range = 342.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 103.134519 meters # Minimum depth: 1951.809896 meters looking forward 0.000000 meters along route # Maximum depth: 1951.809896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1856.234262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378281; longitude = -174.232455; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1875.671425; finalDepth = 1856.234262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5756344708684 # Actual altitude: 95.5756344708684 # Commanded vehicle depth:1856.23426152913 # Seafloor depth:-1951.809896 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 57.35; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1925.671425 meters looking forward 0.000000 meters along route # Maximum depth: 1925.671425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1875.671425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379155; longitude = -174.233404; captureRadius = 10; duration = 206; initialDepth = 1869.166368; finalDepth = 1875.671425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.5756344708684 # Actual altitude: 95.5756344708684 # Commanded vehicle depth:1875.671425 # Seafloor depth:-1925.671425 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 57.35; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1919.166368 meters looking forward 0.000000 meters along route # Maximum depth: 1919.166368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.166368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379797; longitude = -174.234101; captureRadius = 10; duration = 206; initialDepth = 1848.483519; finalDepth = 1869.166368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1869.166368 # Seafloor depth:-1919.166368 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1898.483519 meters looking forward 0.000000 meters along route # Maximum depth: 1898.483519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.483519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380420; longitude = -174.234778; captureRadius = 10; duration = 206; initialDepth = 1848.606212; finalDepth = 1848.483519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.483519 # Seafloor depth:-1898.483519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1898.606212 meters looking forward 0.000000 meters along route # Maximum depth: 1898.606212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.606212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381053; longitude = -174.235465; captureRadius = 10; duration = 206; initialDepth = 1830.530590; finalDepth = 1848.606212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.606212 # Seafloor depth:-1898.606212 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1880.530590 meters looking forward 0.000000 meters along route # Maximum depth: 1880.530590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.530590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381685; longitude = -174.236152; captureRadius = 10; duration = 206; initialDepth = 1827.976106; finalDepth = 1830.530590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1830.53059 # Seafloor depth:-1880.530590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1877.976106 meters looking forward 0.000000 meters along route # Maximum depth: 1877.976106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.976106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382318; longitude = -174.236839; captureRadius = 10; duration = 206; initialDepth = 1821.948789; finalDepth = 1827.976106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1827.976106 # Seafloor depth:-1877.976106 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1871.948789 meters looking forward 0.000000 meters along route # Maximum depth: 1871.948789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.948789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382951; longitude = -174.237526; captureRadius = 10; duration = 206; initialDepth = 1808.763329; finalDepth = 1821.948789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1821.948789 # Seafloor depth:-1871.948789 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1858.763329 meters looking forward 0.000000 meters along route # Maximum depth: 1858.763329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.763329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383583; longitude = -174.238213; captureRadius = 10; duration = 206; initialDepth = 1803.048102; finalDepth = 1808.763329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1808.763329 # Seafloor depth:-1858.763329 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1853.048102 meters looking forward 0.000000 meters along route # Maximum depth: 1853.048102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.048102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384216; longitude = -174.238900; captureRadius = 10; duration = 206; initialDepth = 1792.777303; finalDepth = 1803.048102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1803.048102 # Seafloor depth:-1853.048102 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1842.777303 meters looking forward 0.000000 meters along route # Maximum depth: 1842.777303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.777303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384849; longitude = -174.239587; captureRadius = 10; duration = 206; initialDepth = 1776.448101; finalDepth = 1792.777303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1792.777303 # Seafloor depth:-1842.777303 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1826.448101 meters looking forward 0.000000 meters along route # Maximum depth: 1826.448101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.448101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385481; longitude = -174.240274; captureRadius = 10; duration = 206; initialDepth = 1763.351083; finalDepth = 1776.448101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.448101 # Seafloor depth:-1826.448101 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1813.351083 meters looking forward 0.000000 meters along route # Maximum depth: 1813.351083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.351083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386114; longitude = -174.240961; captureRadius = 10; duration = 206; initialDepth = 1760.101076; finalDepth = 1763.351083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1763.351083 # Seafloor depth:-1813.351083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1810.101076 meters looking forward 0.000000 meters along route # Maximum depth: 1810.101076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.101076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386748; longitude = -174.241649; captureRadius = 10; duration = 206; initialDepth = 1756.733067; finalDepth = 1760.101076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1760.101076 # Seafloor depth:-1810.101076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1806.733067 meters looking forward 0.000000 meters along route # Maximum depth: 1806.733067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.733067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387379; longitude = -174.242335; captureRadius = 10; duration = 206; initialDepth = 1747.335662; finalDepth = 1756.733067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.733067 # Seafloor depth:-1806.733067 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1797.335662 meters looking forward 0.000000 meters along route # Maximum depth: 1797.335662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.335662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388012; longitude = -174.243022; captureRadius = 10; duration = 206; initialDepth = 1750.848785; finalDepth = 1747.335662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.335662 # Seafloor depth:-1797.335662 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1800.848785 meters looking forward 0.000000 meters along route # Maximum depth: 1800.848785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.848785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388645; longitude = -174.243709; captureRadius = 10; duration = 206; initialDepth = 1766.126133; finalDepth = 1750.848785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1750.848785 # Seafloor depth:-1800.848785 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1816.126133 meters looking forward 0.000000 meters along route # Maximum depth: 1816.126133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.126133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389277; longitude = -174.244396; captureRadius = 10; duration = 206; initialDepth = 1757.888389; finalDepth = 1766.126133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1766.126133 # Seafloor depth:-1816.126133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1807.888389 meters looking forward 0.000000 meters along route # Maximum depth: 1807.888389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.888389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389910; longitude = -174.245083; captureRadius = 10; duration = 206; initialDepth = 1748.976265; finalDepth = 1757.888389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.888389 # Seafloor depth:-1807.888389 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1798.976265 meters looking forward 0.000000 meters along route # Maximum depth: 1798.976265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.976265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390543; longitude = -174.245770; captureRadius = 10; duration = 206; initialDepth = 1731.913389; finalDepth = 1748.976265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1748.976265 # Seafloor depth:-1798.976265 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.134519 meters # Minimum depth: 1781.913389 meters looking forward 0.000000 meters along route # Maximum depth: 1781.913389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.913389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391210; longitude = -174.246495; captureRadius = 10; duration = 206; initialDepth = 1709.916341; finalDepth = 1731.913389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.913389 # Seafloor depth:-1781.913389 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 103.134519 meters # Minimum depth: 1759.916341 meters looking forward 0.000000 meters along route # Maximum depth: 1759.916341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.916341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391868; longitude = -174.247209; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1658.798635; finalDepth = 1709.916341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1709.916341 # Seafloor depth:-1759.916341 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 103.134519 meters # Minimum depth: 1708.798635 meters looking forward 0.000000 meters along route # Maximum depth: 1708.798635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.798635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391356; longitude = -174.247712; captureRadius = 10; duration = 206; initialDepth = 1639.212616; finalDepth = 1658.798635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1658.798635 # Seafloor depth:-1708.798635 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 103.134519 meters # Minimum depth: 1689.212616 meters looking forward 0.000000 meters along route # Maximum depth: 1689.212616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.212616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390699; longitude = -174.248358; captureRadius = 10; duration = 206; initialDepth = 1633.007580; finalDepth = 1639.212616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1639.212616 # Seafloor depth:-1689.212616 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 103.134519 meters # Minimum depth: 1683.007580 meters looking forward 0.000000 meters along route # Maximum depth: 1683.007580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.007580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390035; longitude = -174.249011; captureRadius = 10; duration = 206; initialDepth = 1594.702810; finalDepth = 1633.007580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1633.00758 # Seafloor depth:-1683.007580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 103.134519 meters # Minimum depth: 1644.702810 meters looking forward 0.000000 meters along route # Maximum depth: 1644.702810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.702810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389368; longitude = -174.249667; captureRadius = 10; duration = 206; initialDepth = 1651.071322; finalDepth = 1594.702810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1594.70281 # Seafloor depth:-1644.702810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 103.134519 meters # Minimum depth: 1703.213883 meters looking forward 0.000000 meters along route # Maximum depth: 1703.213883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.071322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388645; longitude = -174.250378; captureRadius = 10; duration = 206; initialDepth = 1702.732026; finalDepth = 1651.071322; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 52.1425605054271 # Actual altitude: 52.1425605054271 # Commanded vehicle depth:1651.07132249457 # Seafloor depth:-1703.213883 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 208.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 208.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 103.134519 meters # Minimum depth: 1775.639771 meters looking forward 0.000000 meters along route # Maximum depth: 1775.639771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.732026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387982; longitude = -174.251029; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1706.915710; finalDepth = 1702.732026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9077452223391 # Actual altitude: 72.9077452223391 # Commanded vehicle depth:1702.73202577766 # Seafloor depth:-1775.639771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 291.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.74; MB_Bottom_Detect_Filter_Max_Range = 291.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1756.915710 meters looking forward 0.000000 meters along route # Maximum depth: 1756.915710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.915710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387199; longitude = -174.250183; captureRadius = 10; duration = 206; initialDepth = 1699.091522; finalDepth = 1706.915710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.9077452223391 # Actual altitude: 72.9077452223391 # Commanded vehicle depth:1706.91571 # Seafloor depth:-1756.915710 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 291.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.74; MB_Bottom_Detect_Filter_Max_Range = 291.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1749.091522 meters looking forward 0.000000 meters along route # Maximum depth: 1749.091522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.091522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386566; longitude = -174.249501; captureRadius = 10; duration = 206; initialDepth = 1685.064863; finalDepth = 1699.091522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.091522 # Seafloor depth:-1749.091522 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1735.064863 meters looking forward 0.000000 meters along route # Maximum depth: 1735.064863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.064863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385933; longitude = -174.248818; captureRadius = 10; duration = 206; initialDepth = 1679.594923; finalDepth = 1685.064863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1685.064863 # Seafloor depth:-1735.064863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1729.594923 meters looking forward 0.000000 meters along route # Maximum depth: 1729.594923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.594923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385301; longitude = -174.248135; captureRadius = 10; duration = 206; initialDepth = 1690.899492; finalDepth = 1679.594923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1679.594923 # Seafloor depth:-1729.594923 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1740.899492 meters looking forward 0.000000 meters along route # Maximum depth: 1740.899492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.899492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384668; longitude = -174.247452; captureRadius = 10; duration = 206; initialDepth = 1665.123373; finalDepth = 1690.899492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1690.899492 # Seafloor depth:-1740.899492 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1715.123373 meters looking forward 0.000000 meters along route # Maximum depth: 1715.123373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.123373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384035; longitude = -174.246769; captureRadius = 10; duration = 206; initialDepth = 1649.980976; finalDepth = 1665.123373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1665.123373 # Seafloor depth:-1715.123373 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1699.980976 meters looking forward 0.000000 meters along route # Maximum depth: 1699.980976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.980976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383403; longitude = -174.246086; captureRadius = 10; duration = 206; initialDepth = 1632.269155; finalDepth = 1649.980976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1649.980976 # Seafloor depth:-1699.980976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1682.269155 meters looking forward 0.000000 meters along route # Maximum depth: 1682.269155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.269155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382770; longitude = -174.245403; captureRadius = 10; duration = 206; initialDepth = 1646.356320; finalDepth = 1632.269155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1632.269155 # Seafloor depth:-1682.269155 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1696.356320 meters looking forward 0.000000 meters along route # Maximum depth: 1696.356320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.356320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382137; longitude = -174.244720; captureRadius = 10; duration = 206; initialDepth = 1636.100955; finalDepth = 1646.356320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1646.35632 # Seafloor depth:-1696.356320 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1686.100955 meters looking forward 0.000000 meters along route # Maximum depth: 1686.100955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1636.100955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381505; longitude = -174.244038; captureRadius = 10; duration = 206; initialDepth = 1662.529180; finalDepth = 1636.100955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1636.100955 # Seafloor depth:-1686.100955 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1712.529180 meters looking forward 0.000000 meters along route # Maximum depth: 1712.529180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.529180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380872; longitude = -174.243355; captureRadius = 10; duration = 206; initialDepth = 1687.064831; finalDepth = 1662.529180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1662.52918 # Seafloor depth:-1712.529180 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1737.064831 meters looking forward 0.000000 meters along route # Maximum depth: 1737.064831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.064831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380239; longitude = -174.242672; captureRadius = 10; duration = 206; initialDepth = 1691.213976; finalDepth = 1687.064831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1687.064831 # Seafloor depth:-1737.064831 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1741.213976 meters looking forward 0.000000 meters along route # Maximum depth: 1741.213976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.213976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379607; longitude = -174.241989; captureRadius = 10; duration = 206; initialDepth = 1668.858902; finalDepth = 1691.213976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1691.213976 # Seafloor depth:-1741.213976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1718.858902 meters looking forward 0.000000 meters along route # Maximum depth: 1718.858902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.858902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378974; longitude = -174.241306; captureRadius = 10; duration = 206; initialDepth = 1652.753546; finalDepth = 1668.858902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1668.858902 # Seafloor depth:-1718.858902 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1702.753546 meters looking forward 0.000000 meters along route # Maximum depth: 1702.753546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.753546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378341; longitude = -174.240623; captureRadius = 10; duration = 206; initialDepth = 1647.693308; finalDepth = 1652.753546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1652.753546 # Seafloor depth:-1702.753546 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1697.693308 meters looking forward 0.000000 meters along route # Maximum depth: 1697.693308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.693308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377709; longitude = -174.239940; captureRadius = 10; duration = 206; initialDepth = 1658.412690; finalDepth = 1647.693308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1647.693308 # Seafloor depth:-1697.693308 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1708.412690 meters looking forward 0.000000 meters along route # Maximum depth: 1708.412690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.412690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377076; longitude = -174.239257; captureRadius = 10; duration = 206; initialDepth = 1647.324786; finalDepth = 1658.412690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1658.41269 # Seafloor depth:-1708.412690 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1697.324786 meters looking forward 0.000000 meters along route # Maximum depth: 1697.324786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1647.324786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376443; longitude = -174.238574; captureRadius = 10; duration = 206; initialDepth = 1662.587052; finalDepth = 1647.324786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1647.324786 # Seafloor depth:-1697.324786 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1712.587052 meters looking forward 0.000000 meters along route # Maximum depth: 1712.587052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.587052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375811; longitude = -174.237892; captureRadius = 10; duration = 206; initialDepth = 1660.446362; finalDepth = 1662.587052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1662.587052 # Seafloor depth:-1712.587052 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.134519 meters # Minimum depth: 1710.446362 meters looking forward 0.000000 meters along route # Maximum depth: 1710.446362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.446362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375148; longitude = -174.237176; captureRadius = 10; duration = 206; initialDepth = 1637.443878; finalDepth = 1660.446362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1660.446362 # Seafloor depth:-1710.446362 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 103.134519 meters # Minimum depth: 1687.443878 meters looking forward 0.000000 meters along route # Maximum depth: 1687.443878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.443878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374515; longitude = -174.236493; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1623.979224; finalDepth = 1637.443878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1637.443878 # Seafloor depth:-1687.443878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1673.979224 meters looking forward 0.000000 meters along route # Maximum depth: 1673.979224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.979224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373823; longitude = -174.236040; captureRadius = 10; duration = 206; initialDepth = 1625.945655; finalDepth = 1623.979224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1623.979224 # Seafloor depth:-1673.979224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1675.945655 meters looking forward 0.000000 meters along route # Maximum depth: 1675.945655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.945655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372996; longitude = -174.235499; captureRadius = 10; duration = 206; initialDepth = 1626.170785; finalDepth = 1625.945655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1625.945655 # Seafloor depth:-1675.945655 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1676.170785 meters looking forward 0.000000 meters along route # Maximum depth: 1676.170785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.170785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372196; longitude = -174.234976; captureRadius = 10; duration = 206; initialDepth = 1622.366421; finalDepth = 1626.170785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1626.170785 # Seafloor depth:-1676.170785 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1672.366421 meters looking forward 0.000000 meters along route # Maximum depth: 1672.366421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.366421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371382; longitude = -174.234443; captureRadius = 10; duration = 206; initialDepth = 1633.443435; finalDepth = 1622.366421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1622.366421 # Seafloor depth:-1672.366421 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1683.443435 meters looking forward 0.000000 meters along route # Maximum depth: 1683.443435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.443435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370569; longitude = -174.233911; captureRadius = 10; duration = 206; initialDepth = 1643.573814; finalDepth = 1633.443435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1633.443435 # Seafloor depth:-1683.443435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1693.573814 meters looking forward 0.000000 meters along route # Maximum depth: 1693.573814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.573814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369720; longitude = -174.233356; captureRadius = 10; duration = 206; initialDepth = 1666.571173; finalDepth = 1643.573814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1643.573814 # Seafloor depth:-1693.573814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1716.571173 meters looking forward 0.000000 meters along route # Maximum depth: 1716.571173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.571173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368942; longitude = -174.232847; captureRadius = 10; duration = 206; initialDepth = 1685.869777; finalDepth = 1666.571173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.571173 # Seafloor depth:-1716.571173 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1735.869777 meters looking forward 0.000000 meters along route # Maximum depth: 1735.869777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.869777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368129; longitude = -174.232315; captureRadius = 10; duration = 206; initialDepth = 1711.769066; finalDepth = 1685.869777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1685.869777 # Seafloor depth:-1735.869777 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1761.769066 meters looking forward 0.000000 meters along route # Maximum depth: 1761.769066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.769066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367299; longitude = -174.231772; captureRadius = 10; duration = 206; initialDepth = 1751.078931; finalDepth = 1711.769066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.769066 # Seafloor depth:-1761.769066 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1801.078931 meters looking forward 0.000000 meters along route # Maximum depth: 1801.078931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.078931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366502; longitude = -174.231250; captureRadius = 10; duration = 206; initialDepth = 1781.416010; finalDepth = 1751.078931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1751.078931 # Seafloor depth:-1801.078931 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1831.416010 meters looking forward 0.000000 meters along route # Maximum depth: 1831.416010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.416010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365688; longitude = -174.230718; captureRadius = 10; duration = 206; initialDepth = 1806.330080; finalDepth = 1781.416010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1781.41601 # Seafloor depth:-1831.416010 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1856.330080 meters looking forward 0.000000 meters along route # Maximum depth: 1856.330080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.330080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364875; longitude = -174.230186; captureRadius = 10; duration = 206; initialDepth = 1825.784482; finalDepth = 1806.330080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1806.33008 # Seafloor depth:-1856.330080 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1875.784482 meters looking forward 0.000000 meters along route # Maximum depth: 1875.784482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.784482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364023; longitude = -174.229629; captureRadius = 10; duration = 206; initialDepth = 1846.618635; finalDepth = 1825.784482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.784482 # Seafloor depth:-1875.784482 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1896.618635 meters looking forward 0.000000 meters along route # Maximum depth: 1896.618635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.618635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363248; longitude = -174.229122; captureRadius = 10; duration = 206; initialDepth = 1853.102256; finalDepth = 1846.618635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1846.618635 # Seafloor depth:-1896.618635 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1903.102256 meters looking forward 0.000000 meters along route # Maximum depth: 1903.102256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.102256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362435; longitude = -174.228590; captureRadius = 10; duration = 206; initialDepth = 1854.553860; finalDepth = 1853.102256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1853.102256 # Seafloor depth:-1903.102256 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1904.553860 meters looking forward 0.000000 meters along route # Maximum depth: 1904.553860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.553860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361602; longitude = -174.228045; captureRadius = 10; duration = 206; initialDepth = 1857.866612; finalDepth = 1854.553860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1854.55386 # Seafloor depth:-1904.553860 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1907.866612 meters looking forward 0.000000 meters along route # Maximum depth: 1907.866612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1857.866612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360808; longitude = -174.227525; captureRadius = 10; duration = 206; initialDepth = 1870.210832; finalDepth = 1857.866612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1857.866612 # Seafloor depth:-1907.866612 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1920.210832 meters looking forward 0.000000 meters along route # Maximum depth: 1920.210832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.210832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360035; longitude = -174.227020; captureRadius = 10; duration = 206; initialDepth = 1869.382229; finalDepth = 1870.210832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1870.210832 # Seafloor depth:-1920.210832 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1919.382229 meters looking forward 0.000000 meters along route # Maximum depth: 1919.382229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1869.382229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359272; longitude = -174.226520; captureRadius = 10; duration = 206; initialDepth = 1885.714409; finalDepth = 1869.382229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1869.382229 # Seafloor depth:-1919.382229 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1935.714409 meters looking forward 0.000000 meters along route # Maximum depth: 1935.714409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.714409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358458; longitude = -174.225988; captureRadius = 10; duration = 206; initialDepth = 1896.379387; finalDepth = 1885.714409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1885.714409 # Seafloor depth:-1935.714409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1946.379387 meters looking forward 0.000000 meters along route # Maximum depth: 1946.379387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1896.379387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357614; longitude = -174.225435; captureRadius = 10; duration = 206; initialDepth = 1921.395182; finalDepth = 1896.379387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1896.379387 # Seafloor depth:-1946.379387 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1971.395182 meters looking forward 0.000000 meters along route # Maximum depth: 1971.395182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.395182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356831; longitude = -174.224924; captureRadius = 10; duration = 206; initialDepth = 1947.486700; finalDepth = 1921.395182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1921.395182 # Seafloor depth:-1971.395182 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 1997.486700 meters looking forward 0.000000 meters along route # Maximum depth: 1997.486700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1947.486700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356018; longitude = -174.224391; captureRadius = 10; duration = 206; initialDepth = 1977.196868; finalDepth = 1947.486700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1947.4867 # Seafloor depth:-1997.486700 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 2027.196868 meters looking forward 0.000000 meters along route # Maximum depth: 2027.196868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.196868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355192; longitude = -174.223851; captureRadius = 10; duration = 206; initialDepth = 2001.995030; finalDepth = 1977.196868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1977.196868 # Seafloor depth:-2027.196868 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 2051.995030 meters looking forward 0.000000 meters along route # Maximum depth: 2051.995030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.995030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354391; longitude = -174.223327; captureRadius = 10; duration = 206; initialDepth = 2020.457174; finalDepth = 2001.995030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2001.99503 # Seafloor depth:-2051.995030 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 2070.457174 meters looking forward 0.000000 meters along route # Maximum depth: 2070.457174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.457174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353626; longitude = -174.222826; captureRadius = 10; duration = 206; initialDepth = 2039.181679; finalDepth = 2020.457174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2020.457174 # Seafloor depth:-2070.457174 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.134519 meters # Minimum depth: 2089.181679 meters looking forward 0.000000 meters along route # Maximum depth: 2089.181679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.181679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352855; longitude = -174.222322; captureRadius = 10; duration = 206; initialDepth = 2026.341919; finalDepth = 2039.181679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2039.181679 # Seafloor depth:-2089.181679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 103.134519 meters # Minimum depth: 2076.341919 meters looking forward 0.000000 meters along route # Maximum depth: 2076.341919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.341919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352011; longitude = -174.221770; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 2082.129089; finalDepth = 2026.341919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2026.341919 # Seafloor depth:-2076.341919 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 2132.129089 meters looking forward 0.000000 meters along route # Maximum depth: 2132.129089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.129089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.352885; longitude = -174.220435; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 2041.847479; finalDepth = 2082.129089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2082.129089 # Seafloor depth:-2132.129089 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 2091.847479 meters looking forward 0.000000 meters along route # Maximum depth: 2091.847479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2041.847479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353758; longitude = -174.221019; captureRadius = 10; duration = 206; initialDepth = 2010.035856; finalDepth = 2041.847479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2041.847479 # Seafloor depth:-2091.847479 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 2060.035856 meters looking forward 0.000000 meters along route # Maximum depth: 2060.035856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2010.035856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354572; longitude = -174.221562; captureRadius = 10; duration = 206; initialDepth = 1985.425751; finalDepth = 2010.035856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2010.035856 # Seafloor depth:-2060.035856 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 2035.425751 meters looking forward 0.000000 meters along route # Maximum depth: 2035.425751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1985.425751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355385; longitude = -174.222105; captureRadius = 10; duration = 206; initialDepth = 1924.977466; finalDepth = 1985.425751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1985.425751 # Seafloor depth:-2035.425751 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1974.977466 meters looking forward 0.000000 meters along route # Maximum depth: 1974.977466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.977466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356199; longitude = -174.222649; captureRadius = 10; duration = 206; initialDepth = 1852.002336; finalDepth = 1924.977466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1924.977466 # Seafloor depth:-1974.977466 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1902.002336 meters looking forward 0.000000 meters along route # Maximum depth: 1902.002336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.002336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357022; longitude = -174.223199; captureRadius = 10; duration = 206; initialDepth = 1824.626539; finalDepth = 1852.002336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1852.002336 # Seafloor depth:-1902.002336 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1874.626539 meters looking forward 0.000000 meters along route # Maximum depth: 1874.626539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.626539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357859; longitude = -174.223758; captureRadius = 10; duration = 206; initialDepth = 1791.243434; finalDepth = 1824.626539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.626539 # Seafloor depth:-1874.626539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1841.243434 meters looking forward 0.000000 meters along route # Maximum depth: 1841.243434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.243434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358639; longitude = -174.224279; captureRadius = 10; duration = 206; initialDepth = 1762.496585; finalDepth = 1791.243434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1791.243434 # Seafloor depth:-1841.243434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1812.496585 meters looking forward 0.000000 meters along route # Maximum depth: 1812.496585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.496585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359452; longitude = -174.224823; captureRadius = 10; duration = 206; initialDepth = 1762.753382; finalDepth = 1762.496585; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.496585 # Seafloor depth:-1812.496585 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1812.753382 meters looking forward 0.000000 meters along route # Maximum depth: 1812.753382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.753382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360230; longitude = -174.225342; captureRadius = 10; duration = 206; initialDepth = 1765.737339; finalDepth = 1762.753382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.753382 # Seafloor depth:-1812.753382 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1815.737339 meters looking forward 0.000000 meters along route # Maximum depth: 1815.737339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.737339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360989; longitude = -174.225849; captureRadius = 10; duration = 206; initialDepth = 1765.228063; finalDepth = 1765.737339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1765.737339 # Seafloor depth:-1815.737339 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1815.228063 meters looking forward 0.000000 meters along route # Maximum depth: 1815.228063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.228063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361802; longitude = -174.226393; captureRadius = 10; duration = 206; initialDepth = 1795.949520; finalDepth = 1765.228063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1765.228063 # Seafloor depth:-1815.228063 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1845.949520 meters looking forward 0.000000 meters along route # Maximum depth: 1845.949520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.949520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362616; longitude = -174.226936; captureRadius = 10; duration = 206; initialDepth = 1813.540732; finalDepth = 1795.949520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.94952 # Seafloor depth:-1845.949520 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1863.540732 meters looking forward 0.000000 meters along route # Maximum depth: 1863.540732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.540732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363438; longitude = -174.227485; captureRadius = 10; duration = 206; initialDepth = 1824.011724; finalDepth = 1813.540732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1813.540732 # Seafloor depth:-1863.540732 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1874.011724 meters looking forward 0.000000 meters along route # Maximum depth: 1874.011724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.011724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364275; longitude = -174.228045; captureRadius = 10; duration = 206; initialDepth = 1817.984539; finalDepth = 1824.011724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.011724 # Seafloor depth:-1874.011724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1867.984539 meters looking forward 0.000000 meters along route # Maximum depth: 1867.984539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.984539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365056; longitude = -174.228566; captureRadius = 10; duration = 206; initialDepth = 1795.000987; finalDepth = 1817.984539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1817.984539 # Seafloor depth:-1867.984539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1845.000987 meters looking forward 0.000000 meters along route # Maximum depth: 1845.000987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.000987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365869; longitude = -174.229110; captureRadius = 10; duration = 206; initialDepth = 1759.889735; finalDepth = 1795.000987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.000987 # Seafloor depth:-1845.000987 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1809.889735 meters looking forward 0.000000 meters along route # Maximum depth: 1809.889735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.889735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366683; longitude = -174.229653; captureRadius = 10; duration = 206; initialDepth = 1726.960967; finalDepth = 1759.889735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1759.889735 # Seafloor depth:-1809.889735 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1776.960967 meters looking forward 0.000000 meters along route # Maximum depth: 1776.960967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.960967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367496; longitude = -174.230197; captureRadius = 10; duration = 206; initialDepth = 1706.512563; finalDepth = 1726.960967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1726.960967 # Seafloor depth:-1776.960967 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1756.512563 meters looking forward 0.000000 meters along route # Maximum depth: 1756.512563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.512563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368320; longitude = -174.230747; captureRadius = 10; duration = 206; initialDepth = 1686.039487; finalDepth = 1706.512563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1706.512563 # Seafloor depth:-1756.512563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1736.039487 meters looking forward 0.000000 meters along route # Maximum depth: 1736.039487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.039487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369156; longitude = -174.231306; captureRadius = 10; duration = 206; initialDepth = 1666.515846; finalDepth = 1686.039487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1686.039487 # Seafloor depth:-1736.039487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1716.515846 meters looking forward 0.000000 meters along route # Maximum depth: 1716.515846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.515846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369936; longitude = -174.231827; captureRadius = 10; duration = 206; initialDepth = 1649.425068; finalDepth = 1666.515846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.515846 # Seafloor depth:-1716.515846 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1699.425068 meters looking forward 0.000000 meters along route # Maximum depth: 1699.425068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.425068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370750; longitude = -174.232370; captureRadius = 10; duration = 206; initialDepth = 1633.997277; finalDepth = 1649.425068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1649.425068 # Seafloor depth:-1699.425068 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1683.997277 meters looking forward 0.000000 meters along route # Maximum depth: 1683.997277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.997277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371527; longitude = -174.232890; captureRadius = 10; duration = 206; initialDepth = 1613.941139; finalDepth = 1633.997277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1633.997277 # Seafloor depth:-1683.997277 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1663.941139 meters looking forward 0.000000 meters along route # Maximum depth: 1663.941139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.941139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372286; longitude = -174.233397; captureRadius = 10; duration = 206; initialDepth = 1609.717400; finalDepth = 1613.941139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1613.941139 # Seafloor depth:-1663.941139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1659.717400 meters looking forward 0.000000 meters along route # Maximum depth: 1659.717400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.717400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373062; longitude = -174.233915; captureRadius = 10; duration = 206; initialDepth = 1627.291165; finalDepth = 1609.717400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1609.7174 # Seafloor depth:-1659.717400 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1677.291165 meters looking forward 0.000000 meters along route # Maximum depth: 1677.291165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.291165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373823; longitude = -174.234423; captureRadius = 10; duration = 206; initialDepth = 1622.885647; finalDepth = 1627.291165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1627.291165 # Seafloor depth:-1677.291165 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 103.134519 meters # Minimum depth: 1672.885647 meters looking forward 0.000000 meters along route # Maximum depth: 1672.885647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.885647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374636; longitude = -174.234967; captureRadius = 10; duration = 206; initialDepth = 1618.449615; finalDepth = 1622.885647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1622.885647 # Seafloor depth:-1672.885647 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 103.134519 meters # Minimum depth: 1668.449615 meters looking forward 0.000000 meters along route # Maximum depth: 1668.449615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.449615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375479; longitude = -174.235530; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1614.966940; finalDepth = 1618.449615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1618.449615 # Seafloor depth:-1668.449615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1664.966940 meters looking forward 0.000000 meters along route # Maximum depth: 1664.966940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.966940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376263; longitude = -174.236376; captureRadius = 10; duration = 206; initialDepth = 1597.671061; finalDepth = 1614.966940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1614.96694 # Seafloor depth:-1664.966940 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1647.671061 meters looking forward 0.000000 meters along route # Maximum depth: 1647.671061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.671061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376895; longitude = -174.237059; captureRadius = 10; duration = 206; initialDepth = 1583.075185; finalDepth = 1597.671061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1597.671061 # Seafloor depth:-1647.671061 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1633.075185 meters looking forward 0.000000 meters along route # Maximum depth: 1633.075185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.075185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377528; longitude = -174.237742; captureRadius = 10; duration = 206; initialDepth = 1579.292180; finalDepth = 1583.075185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1583.075185 # Seafloor depth:-1633.075185 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1629.292180 meters looking forward 0.000000 meters along route # Maximum depth: 1629.292180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.292180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378161; longitude = -174.238425; captureRadius = 10; duration = 206; initialDepth = 1561.751762; finalDepth = 1579.292180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1579.29218 # Seafloor depth:-1629.292180 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1611.751762 meters looking forward 0.000000 meters along route # Maximum depth: 1611.751762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.751762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378793; longitude = -174.239108; captureRadius = 10; duration = 206; initialDepth = 1564.783636; finalDepth = 1561.751762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1561.751762 # Seafloor depth:-1611.751762 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1614.783636 meters looking forward 0.000000 meters along route # Maximum depth: 1614.783636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.783636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379426; longitude = -174.239791; captureRadius = 10; duration = 206; initialDepth = 1565.627530; finalDepth = 1564.783636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1564.783636 # Seafloor depth:-1614.783636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1615.627530 meters looking forward 0.000000 meters along route # Maximum depth: 1615.627530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.627530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380059; longitude = -174.240474; captureRadius = 10; duration = 206; initialDepth = 1596.641873; finalDepth = 1565.627530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1565.62753 # Seafloor depth:-1615.627530 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1646.641873 meters looking forward 0.000000 meters along route # Maximum depth: 1646.641873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.641873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380691; longitude = -174.241156; captureRadius = 10; duration = 206; initialDepth = 1596.101039; finalDepth = 1596.641873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1596.641873 # Seafloor depth:-1646.641873 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1646.101039 meters looking forward 0.000000 meters along route # Maximum depth: 1646.101039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.101039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381324; longitude = -174.241839; captureRadius = 10; duration = 206; initialDepth = 1595.919713; finalDepth = 1596.101039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1596.101039 # Seafloor depth:-1646.101039 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1645.919713 meters looking forward 0.000000 meters along route # Maximum depth: 1645.919713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.919713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381957; longitude = -174.242522; captureRadius = 10; duration = 206; initialDepth = 1574.702522; finalDepth = 1595.919713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1595.919713 # Seafloor depth:-1645.919713 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1624.702522 meters looking forward 0.000000 meters along route # Maximum depth: 1624.702522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.702522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382589; longitude = -174.243205; captureRadius = 10; duration = 206; initialDepth = 1575.694789; finalDepth = 1574.702522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1574.702522 # Seafloor depth:-1624.702522 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1625.694789 meters looking forward 0.000000 meters along route # Maximum depth: 1625.694789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.694789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383222; longitude = -174.243888; captureRadius = 10; duration = 206; initialDepth = 1566.717123; finalDepth = 1575.694789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1575.694789 # Seafloor depth:-1625.694789 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1616.717123 meters looking forward 0.000000 meters along route # Maximum depth: 1616.717123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.717123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383855; longitude = -174.244571; captureRadius = 10; duration = 206; initialDepth = 1566.484798; finalDepth = 1566.717123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1566.717123 # Seafloor depth:-1616.717123 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1616.484798 meters looking forward 0.000000 meters along route # Maximum depth: 1616.484798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.484798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384487; longitude = -174.245254; captureRadius = 10; duration = 206; initialDepth = 1586.760497; finalDepth = 1566.484798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1566.484798 # Seafloor depth:-1616.484798 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1636.760497 meters looking forward 0.000000 meters along route # Maximum depth: 1636.760497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.760497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385120; longitude = -174.245937; captureRadius = 10; duration = 206; initialDepth = 1598.231819; finalDepth = 1586.760497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1586.760497 # Seafloor depth:-1636.760497 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1648.231819 meters looking forward 0.000000 meters along route # Maximum depth: 1648.231819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.231819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385753; longitude = -174.246620; captureRadius = 10; duration = 206; initialDepth = 1571.553536; finalDepth = 1598.231819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1598.231819 # Seafloor depth:-1648.231819 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1621.553536 meters looking forward 0.000000 meters along route # Maximum depth: 1621.553536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.553536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386385; longitude = -174.247303; captureRadius = 10; duration = 206; initialDepth = 1579.535156; finalDepth = 1571.553536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1571.553536 # Seafloor depth:-1621.553536 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1629.535156 meters looking forward 0.000000 meters along route # Maximum depth: 1629.535156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.535156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387018; longitude = -174.247986; captureRadius = 10; duration = 206; initialDepth = 1607.165191; finalDepth = 1579.535156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1579.535156 # Seafloor depth:-1629.535156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1657.165191 meters looking forward 0.000000 meters along route # Maximum depth: 1657.165191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.165191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387650; longitude = -174.248669; captureRadius = 10; duration = 206; initialDepth = 1614.358100; finalDepth = 1607.165191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1607.165191 # Seafloor depth:-1657.165191 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1664.358100 meters looking forward 0.000000 meters along route # Maximum depth: 1664.358100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.358100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388313; longitude = -174.249383; captureRadius = 10; duration = 206; initialDepth = 1624.216309; finalDepth = 1614.358100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1614.3581 # Seafloor depth:-1664.358100 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 103.134519 meters # Minimum depth: 1674.216309 meters looking forward 0.000000 meters along route # Maximum depth: 1674.216309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.216309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388946; longitude = -174.250067; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1629.112427; finalDepth = 1624.216309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1624.216309 # Seafloor depth:-1674.216309 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1679.112427 meters looking forward 0.000000 meters along route # Maximum depth: 1679.112427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.112427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389940; longitude = -174.249135; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1588.623836; finalDepth = 1629.112427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1629.112427 # Seafloor depth:-1679.112427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1638.623836 meters looking forward 0.000000 meters along route # Maximum depth: 1638.623836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.623836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389097; longitude = -174.248219; captureRadius = 10; duration = 206; initialDepth = 1578.767535; finalDepth = 1588.623836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1588.623836 # Seafloor depth:-1638.623836 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1628.767535 meters looking forward 0.000000 meters along route # Maximum depth: 1628.767535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.767535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388464; longitude = -174.247532; captureRadius = 10; duration = 206; initialDepth = 1584.142189; finalDepth = 1578.767535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1578.767535 # Seafloor depth:-1628.767535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1634.142189 meters looking forward 0.000000 meters along route # Maximum depth: 1634.142189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.142189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387831; longitude = -174.246845; captureRadius = 10; duration = 206; initialDepth = 1598.647861; finalDepth = 1584.142189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1584.142189 # Seafloor depth:-1634.142189 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1648.647861 meters looking forward 0.000000 meters along route # Maximum depth: 1648.647861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.647861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387199; longitude = -174.246158; captureRadius = 10; duration = 206; initialDepth = 1625.115005; finalDepth = 1598.647861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1598.647861 # Seafloor depth:-1648.647861 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1675.115005 meters looking forward 0.000000 meters along route # Maximum depth: 1675.115005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.115005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386565; longitude = -174.245470; captureRadius = 10; duration = 206; initialDepth = 1628.545817; finalDepth = 1625.115005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1625.115005 # Seafloor depth:-1675.115005 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1678.545817 meters looking forward 0.000000 meters along route # Maximum depth: 1678.545817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.545817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385933; longitude = -174.244784; captureRadius = 10; duration = 206; initialDepth = 1633.950012; finalDepth = 1628.545817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1628.545817 # Seafloor depth:-1678.545817 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1683.950012 meters looking forward 0.000000 meters along route # Maximum depth: 1683.950012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.950012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385301; longitude = -174.244097; captureRadius = 10; duration = 206; initialDepth = 1652.435633; finalDepth = 1633.950012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1633.950012 # Seafloor depth:-1683.950012 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1702.435633 meters looking forward 0.000000 meters along route # Maximum depth: 1702.435633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1652.435633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384668; longitude = -174.243410; captureRadius = 10; duration = 206; initialDepth = 1655.918300; finalDepth = 1652.435633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1652.435633 # Seafloor depth:-1702.435633 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1705.918300 meters looking forward 0.000000 meters along route # Maximum depth: 1705.918300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.918300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384035; longitude = -174.242722; captureRadius = 10; duration = 206; initialDepth = 1651.713167; finalDepth = 1655.918300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1655.9183 # Seafloor depth:-1705.918300 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1701.713167 meters looking forward 0.000000 meters along route # Maximum depth: 1701.713167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.713167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383403; longitude = -174.242035; captureRadius = 10; duration = 206; initialDepth = 1659.149243; finalDepth = 1651.713167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1651.713167 # Seafloor depth:-1701.713167 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1709.149243 meters looking forward 0.000000 meters along route # Maximum depth: 1709.149243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.149243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382770; longitude = -174.241348; captureRadius = 10; duration = 206; initialDepth = 1659.698316; finalDepth = 1659.149243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1659.149243 # Seafloor depth:-1709.149243 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1709.698316 meters looking forward 0.000000 meters along route # Maximum depth: 1709.698316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.698316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382137; longitude = -174.240661; captureRadius = 10; duration = 206; initialDepth = 1646.492969; finalDepth = 1659.698316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1659.698316 # Seafloor depth:-1709.698316 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1696.492969 meters looking forward 0.000000 meters along route # Maximum depth: 1696.492969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.492969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381503; longitude = -174.239972; captureRadius = 10; duration = 206; initialDepth = 1633.079603; finalDepth = 1646.492969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1646.492969 # Seafloor depth:-1696.492969 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1683.079603 meters looking forward 0.000000 meters along route # Maximum depth: 1683.079603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.079603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380872; longitude = -174.239287; captureRadius = 10; duration = 206; initialDepth = 1650.508366; finalDepth = 1633.079603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1633.079603 # Seafloor depth:-1683.079603 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1700.508366 meters looking forward 0.000000 meters along route # Maximum depth: 1700.508366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1650.508366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380239; longitude = -174.238600; captureRadius = 10; duration = 206; initialDepth = 1665.724126; finalDepth = 1650.508366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1650.508366 # Seafloor depth:-1700.508366 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1715.724126 meters looking forward 0.000000 meters along route # Maximum depth: 1715.724126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.724126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379607; longitude = -174.237913; captureRadius = 10; duration = 206; initialDepth = 1680.759494; finalDepth = 1665.724126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1665.724126 # Seafloor depth:-1715.724126 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1730.759494 meters looking forward 0.000000 meters along route # Maximum depth: 1730.759494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.759494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378974; longitude = -174.237226; captureRadius = 10; duration = 206; initialDepth = 1687.759520; finalDepth = 1680.759494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1680.759494 # Seafloor depth:-1730.759494 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1737.759520 meters looking forward 0.000000 meters along route # Maximum depth: 1737.759520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.759520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378341; longitude = -174.236539; captureRadius = 10; duration = 206; initialDepth = 1703.046944; finalDepth = 1687.759520; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1687.75952 # Seafloor depth:-1737.759520 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1753.046944 meters looking forward 0.000000 meters along route # Maximum depth: 1753.046944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.046944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377709; longitude = -174.235852; captureRadius = 10; duration = 206; initialDepth = 1711.495598; finalDepth = 1703.046944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1703.046944 # Seafloor depth:-1753.046944 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.134519 meters # Minimum depth: 1761.495598 meters looking forward 0.000000 meters along route # Maximum depth: 1761.495598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.495598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377041; longitude = -174.235126; captureRadius = 10; duration = 206; initialDepth = 1721.949799; finalDepth = 1711.495598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.495598 # Seafloor depth:-1761.495598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1771.949799 meters looking forward 0.000000 meters along route # Maximum depth: 1771.949799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.949799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376383; longitude = -174.234412; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1723.819537; finalDepth = 1721.949799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1721.949799 # Seafloor depth:-1771.949799 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1773.819537 meters looking forward 0.000000 meters along route # Maximum depth: 1773.819537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.819537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375269; longitude = -174.233678; captureRadius = 10; duration = 206; initialDepth = 1722.046464; finalDepth = 1723.819537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1723.819537 # Seafloor depth:-1773.819537 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1772.046464 meters looking forward 0.000000 meters along route # Maximum depth: 1772.046464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.046464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374455; longitude = -174.233142; captureRadius = 10; duration = 206; initialDepth = 1725.103741; finalDepth = 1722.046464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1722.046464 # Seafloor depth:-1772.046464 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1775.103741 meters looking forward 0.000000 meters along route # Maximum depth: 1775.103741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.103741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373642; longitude = -174.232607; captureRadius = 10; duration = 206; initialDepth = 1712.161444; finalDepth = 1725.103741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1725.103741 # Seafloor depth:-1775.103741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1762.161444 meters looking forward 0.000000 meters along route # Maximum depth: 1762.161444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.161444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372799; longitude = -174.232051; captureRadius = 10; duration = 206; initialDepth = 1719.180629; finalDepth = 1712.161444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1712.161444 # Seafloor depth:-1762.161444 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1769.180629 meters looking forward 0.000000 meters along route # Maximum depth: 1769.180629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.180629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372015; longitude = -174.231535; captureRadius = 10; duration = 206; initialDepth = 1722.746884; finalDepth = 1719.180629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1719.180629 # Seafloor depth:-1769.180629 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1772.746884 meters looking forward 0.000000 meters along route # Maximum depth: 1772.746884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.746884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371202; longitude = -174.231000; captureRadius = 10; duration = 206; initialDepth = 1714.109776; finalDepth = 1722.746884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1722.746884 # Seafloor depth:-1772.746884 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1764.109776 meters looking forward 0.000000 meters along route # Maximum depth: 1764.109776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.109776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370388; longitude = -174.230464; captureRadius = 10; duration = 206; initialDepth = 1731.029851; finalDepth = 1714.109776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1714.109776 # Seafloor depth:-1764.109776 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1781.029851 meters looking forward 0.000000 meters along route # Maximum depth: 1781.029851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.029851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369544; longitude = -174.229908; captureRadius = 10; duration = 206; initialDepth = 1769.635855; finalDepth = 1731.029851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.029851 # Seafloor depth:-1781.029851 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1819.635855 meters looking forward 0.000000 meters along route # Maximum depth: 1819.635855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.635855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368761; longitude = -174.229392; captureRadius = 10; duration = 206; initialDepth = 1809.105171; finalDepth = 1769.635855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1769.635855 # Seafloor depth:-1819.635855 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1859.105171 meters looking forward 0.000000 meters along route # Maximum depth: 1859.105171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.105171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367948; longitude = -174.228857; captureRadius = 10; duration = 206; initialDepth = 1825.312227; finalDepth = 1809.105171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1809.105171 # Seafloor depth:-1859.105171 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1875.312227 meters looking forward 0.000000 meters along route # Maximum depth: 1875.312227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.312227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367134; longitude = -174.228321; captureRadius = 10; duration = 206; initialDepth = 1836.700549; finalDepth = 1825.312227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.312227 # Seafloor depth:-1875.312227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1886.700549 meters looking forward 0.000000 meters along route # Maximum depth: 1886.700549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.700549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366290; longitude = -174.227765; captureRadius = 10; duration = 206; initialDepth = 1838.154621; finalDepth = 1836.700549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1836.700549 # Seafloor depth:-1886.700549 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1888.154621 meters looking forward 0.000000 meters along route # Maximum depth: 1888.154621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.154621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365508; longitude = -174.227250; captureRadius = 10; duration = 206; initialDepth = 1798.996058; finalDepth = 1838.154621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1838.154621 # Seafloor depth:-1888.154621 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1848.996058 meters looking forward 0.000000 meters along route # Maximum depth: 1848.996058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.996058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364694; longitude = -174.226714; captureRadius = 10; duration = 206; initialDepth = 1783.652399; finalDepth = 1798.996058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.996058 # Seafloor depth:-1848.996058 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1833.652399 meters looking forward 0.000000 meters along route # Maximum depth: 1833.652399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.652399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363881; longitude = -174.226178; captureRadius = 10; duration = 206; initialDepth = 1768.110957; finalDepth = 1783.652399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1783.652399 # Seafloor depth:-1833.652399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1818.110957 meters looking forward 0.000000 meters along route # Maximum depth: 1818.110957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.110957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363036; longitude = -174.225622; captureRadius = 10; duration = 206; initialDepth = 1728.220965; finalDepth = 1768.110957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1768.110957 # Seafloor depth:-1818.110957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1778.220965 meters looking forward 0.000000 meters along route # Maximum depth: 1778.220965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.220965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362254; longitude = -174.225107; captureRadius = 10; duration = 206; initialDepth = 1776.175770; finalDepth = 1728.220965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1728.220965 # Seafloor depth:-1778.220965 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1826.175770 meters looking forward 0.000000 meters along route # Maximum depth: 1826.175770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.175770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361441; longitude = -174.224571; captureRadius = 10; duration = 206; initialDepth = 1797.082835; finalDepth = 1776.175770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.17577 # Seafloor depth:-1826.175770 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1847.082835 meters looking forward 0.000000 meters along route # Maximum depth: 1847.082835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.082835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360627; longitude = -174.224035; captureRadius = 10; duration = 206; initialDepth = 1826.815376; finalDepth = 1797.082835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1797.082835 # Seafloor depth:-1847.082835 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1876.815376 meters looking forward 0.000000 meters along route # Maximum depth: 1876.815376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.815376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359782; longitude = -174.223479; captureRadius = 10; duration = 206; initialDepth = 1841.688774; finalDepth = 1826.815376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.815376 # Seafloor depth:-1876.815376 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1891.688774 meters looking forward 0.000000 meters along route # Maximum depth: 1891.688774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.688774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359000; longitude = -174.222964; captureRadius = 10; duration = 206; initialDepth = 1893.588256; finalDepth = 1841.688774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1841.688774 # Seafloor depth:-1891.688774 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1947.896001 meters looking forward 0.000000 meters along route # Maximum depth: 1947.896001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.588256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358225; longitude = -174.222454; captureRadius = 10; duration = 206; initialDepth = 1901.602531; finalDepth = 1893.588256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3077448102663 # Actual altitude: 54.3077448102663 # Commanded vehicle depth:1893.58825618973 # Seafloor depth:-1947.896001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 217.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 217.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 103.134519 meters # Minimum depth: 1951.602531 meters looking forward 0.000000 meters along route # Maximum depth: 1951.602531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1901.602531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357464; longitude = -174.221952; captureRadius = 10; duration = 206; initialDepth = 1956.065333; finalDepth = 1901.602531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3077448102663 # Actual altitude: 54.3077448102663 # Commanded vehicle depth:1901.602531 # Seafloor depth:-1951.602531 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 217.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.58; MB_Bottom_Detect_Filter_Max_Range = 217.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 103.134519 meters # Minimum depth: 2008.483893 meters looking forward 0.000000 meters along route # Maximum depth: 2008.483893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1956.065333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356651; longitude = -174.221416; captureRadius = 10; duration = 206; initialDepth = 2007.848060; finalDepth = 1956.065333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4185602489395 # Actual altitude: 52.4185602489395 # Commanded vehicle depth:1956.06533275106 # Seafloor depth:-2008.483893 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 103.134519 meters # Minimum depth: 2057.848060 meters looking forward 0.000000 meters along route # Maximum depth: 2057.848060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2007.848060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355820; longitude = -174.220869; captureRadius = 10; duration = 206; initialDepth = 2022.673240; finalDepth = 2007.848060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4185602489395 # Actual altitude: 52.4185602489395 # Commanded vehicle depth:2007.84806 # Seafloor depth:-2057.848060 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 209.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 209.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 103.134519 meters # Minimum depth: 2072.673240 meters looking forward 0.000000 meters along route # Maximum depth: 2072.673240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.673240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355024; longitude = -174.220345; captureRadius = 10; duration = 206; initialDepth = 2049.387580; finalDepth = 2022.673240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2022.67324 # Seafloor depth:-2072.673240 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 2099.387580 meters looking forward 0.000000 meters along route # Maximum depth: 2099.387580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.387580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354210; longitude = -174.219809; captureRadius = 10; duration = 206; initialDepth = 2082.473633; finalDepth = 2049.387580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2049.38758 # Seafloor depth:-2099.387580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 103.134519 meters # Minimum depth: 2132.473633 meters looking forward 0.000000 meters along route # Maximum depth: 2132.473633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2082.473633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.353367; longitude = -174.219254; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 2057.539307; finalDepth = 2082.473633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2082.473633 # Seafloor depth:-2132.473633 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 2107.539307 meters looking forward 0.000000 meters along route # Maximum depth: 2107.539307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2057.539307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354150; longitude = -174.218012; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 2049.695918; finalDepth = 2057.539307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2057.539307 # Seafloor depth:-2107.539307 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 2099.695918 meters looking forward 0.000000 meters along route # Maximum depth: 2099.695918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.695918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.354843; longitude = -174.218470; captureRadius = 10; duration = 206; initialDepth = 2033.838098; finalDepth = 2049.695918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2049.695918 # Seafloor depth:-2099.695918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 2083.838098 meters looking forward 0.000000 meters along route # Maximum depth: 2083.838098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2033.838098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.355656; longitude = -174.219008; captureRadius = 10; duration = 206; initialDepth = 2047.295180; finalDepth = 2033.838098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2033.838098 # Seafloor depth:-2083.838098 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 2097.295180 meters looking forward 0.000000 meters along route # Maximum depth: 2097.295180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.295180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.356499; longitude = -174.219565; captureRadius = 10; duration = 206; initialDepth = 2006.510472; finalDepth = 2047.295180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2047.29518 # Seafloor depth:-2097.295180 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 2056.510472 meters looking forward 0.000000 meters along route # Maximum depth: 2056.510472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2006.510472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.357283; longitude = -174.220083; captureRadius = 10; duration = 206; initialDepth = 1987.060295; finalDepth = 2006.510472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:2006.510472 # Seafloor depth:-2056.510472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 2037.060295 meters looking forward 0.000000 meters along route # Maximum depth: 2037.060295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1987.060295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358050; longitude = -174.220590; captureRadius = 10; duration = 206; initialDepth = 1958.473751; finalDepth = 1987.060295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1987.060295 # Seafloor depth:-2037.060295 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 2008.473751 meters looking forward 0.000000 meters along route # Maximum depth: 2008.473751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1958.473751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.358820; longitude = -174.221099; captureRadius = 10; duration = 206; initialDepth = 1932.684157; finalDepth = 1958.473751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1958.473751 # Seafloor depth:-2008.473751 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1982.684157 meters looking forward 0.000000 meters along route # Maximum depth: 1982.684157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1932.684157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.359633; longitude = -174.221636; captureRadius = 10; duration = 206; initialDepth = 1908.467167; finalDepth = 1932.684157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1932.684157 # Seafloor depth:-1982.684157 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1958.467167 meters looking forward 0.000000 meters along route # Maximum depth: 1958.467167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.467167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.360447; longitude = -174.222174; captureRadius = 10; duration = 206; initialDepth = 1885.552722; finalDepth = 1908.467167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1908.467167 # Seafloor depth:-1958.467167 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1935.552722 meters looking forward 0.000000 meters along route # Maximum depth: 1935.552722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.552722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.361293; longitude = -174.222733; captureRadius = 10; duration = 206; initialDepth = 1859.885688; finalDepth = 1885.552722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1885.552722 # Seafloor depth:-1935.552722 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1909.885688 meters looking forward 0.000000 meters along route # Maximum depth: 1909.885688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.885688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362073; longitude = -174.223249; captureRadius = 10; duration = 206; initialDepth = 1819.525985; finalDepth = 1859.885688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1859.885688 # Seafloor depth:-1909.885688 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1869.525985 meters looking forward 0.000000 meters along route # Maximum depth: 1869.525985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.525985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.362843; longitude = -174.223758; captureRadius = 10; duration = 206; initialDepth = 1832.498246; finalDepth = 1819.525985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1819.525985 # Seafloor depth:-1869.525985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1882.498246 meters looking forward 0.000000 meters along route # Maximum depth: 1882.498246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1832.498246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.363610; longitude = -174.224265; captureRadius = 10; duration = 206; initialDepth = 1876.447000; finalDepth = 1832.498246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1832.498246 # Seafloor depth:-1882.498246 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1926.447000 meters looking forward 0.000000 meters along route # Maximum depth: 1926.447000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.447000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.364423; longitude = -174.224802; captureRadius = 10; duration = 206; initialDepth = 1894.505808; finalDepth = 1876.447000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1876.447 # Seafloor depth:-1926.447000 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1944.505808 meters looking forward 0.000000 meters along route # Maximum depth: 1944.505808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1894.505808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.365240; longitude = -174.225342; captureRadius = 10; duration = 206; initialDepth = 1874.356583; finalDepth = 1894.505808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1894.505808 # Seafloor depth:-1944.505808 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1924.356583 meters looking forward 0.000000 meters along route # Maximum depth: 1924.356583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.356583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366086; longitude = -174.225901; captureRadius = 10; duration = 206; initialDepth = 1848.145436; finalDepth = 1874.356583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1874.356583 # Seafloor depth:-1924.356583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1898.145436 meters looking forward 0.000000 meters along route # Maximum depth: 1898.145436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.145436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.366863; longitude = -174.226415; captureRadius = 10; duration = 206; initialDepth = 1841.860202; finalDepth = 1848.145436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.145436 # Seafloor depth:-1898.145436 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1891.860202 meters looking forward 0.000000 meters along route # Maximum depth: 1891.860202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.860202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.367677; longitude = -174.226953; captureRadius = 10; duration = 206; initialDepth = 1837.024508; finalDepth = 1841.860202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1841.860202 # Seafloor depth:-1891.860202 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1887.024508 meters looking forward 0.000000 meters along route # Maximum depth: 1887.024508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.024508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.368490; longitude = -174.227491; captureRadius = 10; duration = 206; initialDepth = 1828.535405; finalDepth = 1837.024508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1837.024508 # Seafloor depth:-1887.024508 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1878.535405 meters looking forward 0.000000 meters along route # Maximum depth: 1878.535405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.535405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.369328; longitude = -174.228045; captureRadius = 10; duration = 206; initialDepth = 1826.447155; finalDepth = 1828.535405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1828.535405 # Seafloor depth:-1878.535405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1876.447155 meters looking forward 0.000000 meters along route # Maximum depth: 1876.447155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.447155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370117; longitude = -174.228566; captureRadius = 10; duration = 206; initialDepth = 1822.311006; finalDepth = 1826.447155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.447155 # Seafloor depth:-1876.447155 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1872.311006 meters looking forward 0.000000 meters along route # Maximum depth: 1872.311006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.311006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.370879; longitude = -174.229070; captureRadius = 10; duration = 206; initialDepth = 1819.052162; finalDepth = 1822.311006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1822.311006 # Seafloor depth:-1872.311006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1869.052162 meters looking forward 0.000000 meters along route # Maximum depth: 1869.052162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.052162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.371653; longitude = -174.229581; captureRadius = 10; duration = 206; initialDepth = 1804.627813; finalDepth = 1819.052162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1819.052162 # Seafloor depth:-1869.052162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1854.627813 meters looking forward 0.000000 meters along route # Maximum depth: 1854.627813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.627813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.372467; longitude = -174.230119; captureRadius = 10; duration = 206; initialDepth = 1809.916673; finalDepth = 1804.627813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1804.627813 # Seafloor depth:-1854.627813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1859.916673 meters looking forward 0.000000 meters along route # Maximum depth: 1859.916673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.916673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.373280; longitude = -174.230657; captureRadius = 10; duration = 206; initialDepth = 1814.399036; finalDepth = 1809.916673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1809.916673 # Seafloor depth:-1859.916673 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1864.399036 meters looking forward 0.000000 meters along route # Maximum depth: 1864.399036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.399036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374121; longitude = -174.231213; captureRadius = 10; duration = 206; initialDepth = 1816.430405; finalDepth = 1814.399036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1814.399036 # Seafloor depth:-1864.399036 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1866.430405 meters looking forward 0.000000 meters along route # Maximum depth: 1866.430405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.430405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.374907; longitude = -174.231732; captureRadius = 10; duration = 206; initialDepth = 1813.706355; finalDepth = 1816.430405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1816.430405 # Seafloor depth:-1866.430405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1863.706355 meters looking forward 0.000000 meters along route # Maximum depth: 1863.706355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.706355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.375720; longitude = -174.232270; captureRadius = 10; duration = 206; initialDepth = 1821.557643; finalDepth = 1813.706355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1813.706355 # Seafloor depth:-1863.706355 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1871.557643 meters looking forward 0.000000 meters along route # Maximum depth: 1871.557643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.557643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.376534; longitude = -174.232807; captureRadius = 10; duration = 206; initialDepth = 1818.163177; finalDepth = 1821.557643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1821.557643 # Seafloor depth:-1871.557643 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1868.163177 meters looking forward 0.000000 meters along route # Maximum depth: 1868.163177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.163177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.377317; longitude = -174.233325; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1796.558535; finalDepth = 1818.163177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.163177 # Seafloor depth:-1868.163177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1846.558535 meters looking forward 0.000000 meters along route # Maximum depth: 1846.558535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.558535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378251; longitude = -174.234333; captureRadius = 10; duration = 206; initialDepth = 1789.298452; finalDepth = 1796.558535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1796.558535 # Seafloor depth:-1846.558535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1839.298452 meters looking forward 0.000000 meters along route # Maximum depth: 1839.298452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.298452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.378884; longitude = -174.235015; captureRadius = 10; duration = 206; initialDepth = 1778.686315; finalDepth = 1789.298452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1789.298452 # Seafloor depth:-1839.298452 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1828.686315 meters looking forward 0.000000 meters along route # Maximum depth: 1828.686315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.686315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.379516; longitude = -174.235698; captureRadius = 10; duration = 206; initialDepth = 1771.644568; finalDepth = 1778.686315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1778.686315 # Seafloor depth:-1828.686315 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1821.644568 meters looking forward 0.000000 meters along route # Maximum depth: 1821.644568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.644568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380149; longitude = -174.236380; captureRadius = 10; duration = 206; initialDepth = 1756.370561; finalDepth = 1771.644568; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.644568 # Seafloor depth:-1821.644568 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1806.370561 meters looking forward 0.000000 meters along route # Maximum depth: 1806.370561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.370561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.380782; longitude = -174.237063; captureRadius = 10; duration = 206; initialDepth = 1736.211828; finalDepth = 1756.370561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.370561 # Seafloor depth:-1806.370561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1786.211828 meters looking forward 0.000000 meters along route # Maximum depth: 1786.211828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.211828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.381414; longitude = -174.237745; captureRadius = 10; duration = 206; initialDepth = 1730.414695; finalDepth = 1736.211828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1736.211828 # Seafloor depth:-1786.211828 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1780.414695 meters looking forward 0.000000 meters along route # Maximum depth: 1780.414695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.414695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382047; longitude = -174.238428; captureRadius = 10; duration = 206; initialDepth = 1731.294131; finalDepth = 1730.414695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1730.414695 # Seafloor depth:-1780.414695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1781.294131 meters looking forward 0.000000 meters along route # Maximum depth: 1781.294131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.294131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.382680; longitude = -174.239110; captureRadius = 10; duration = 206; initialDepth = 1752.551218; finalDepth = 1731.294131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.294131 # Seafloor depth:-1781.294131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1802.551218 meters looking forward 0.000000 meters along route # Maximum depth: 1802.551218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.551218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383312; longitude = -174.239793; captureRadius = 10; duration = 206; initialDepth = 1745.515374; finalDepth = 1752.551218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1752.551218 # Seafloor depth:-1802.551218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1795.515374 meters looking forward 0.000000 meters along route # Maximum depth: 1795.515374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.515374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.383945; longitude = -174.240476; captureRadius = 10; duration = 206; initialDepth = 1733.238736; finalDepth = 1745.515374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1745.515374 # Seafloor depth:-1795.515374 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1783.238736 meters looking forward 0.000000 meters along route # Maximum depth: 1783.238736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1733.238736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.384578; longitude = -174.241158; captureRadius = 10; duration = 206; initialDepth = 1723.114780; finalDepth = 1733.238736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1733.238736 # Seafloor depth:-1783.238736 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1773.114780 meters looking forward 0.000000 meters along route # Maximum depth: 1773.114780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.114780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385210; longitude = -174.241841; captureRadius = 10; duration = 206; initialDepth = 1725.889486; finalDepth = 1723.114780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1723.11478 # Seafloor depth:-1773.114780 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1775.889486 meters looking forward 0.000000 meters along route # Maximum depth: 1775.889486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.889486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.385843; longitude = -174.242523; captureRadius = 10; duration = 206; initialDepth = 1723.577603; finalDepth = 1725.889486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1725.889486 # Seafloor depth:-1775.889486 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1773.577603 meters looking forward 0.000000 meters along route # Maximum depth: 1773.577603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.577603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386476; longitude = -174.243206; captureRadius = 10; duration = 206; initialDepth = 1706.094214; finalDepth = 1723.577603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1723.577603 # Seafloor depth:-1773.577603 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1756.094214 meters looking forward 0.000000 meters along route # Maximum depth: 1756.094214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.094214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387108; longitude = -174.243888; captureRadius = 10; duration = 206; initialDepth = 1689.229526; finalDepth = 1706.094214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1706.094214 # Seafloor depth:-1756.094214 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1739.229526 meters looking forward 0.000000 meters along route # Maximum depth: 1739.229526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.229526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387741; longitude = -174.244571; captureRadius = 10; duration = 206; initialDepth = 1675.989675; finalDepth = 1689.229526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1689.229526 # Seafloor depth:-1739.229526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1725.989675 meters looking forward 0.000000 meters along route # Maximum depth: 1725.989675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.989675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388374; longitude = -174.245253; captureRadius = 10; duration = 206; initialDepth = 1664.734603; finalDepth = 1675.989675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1675.989675 # Seafloor depth:-1725.989675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1714.734603 meters looking forward 0.000000 meters along route # Maximum depth: 1714.734603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.734603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389006; longitude = -174.245936; captureRadius = 10; duration = 206; initialDepth = 1656.327437; finalDepth = 1664.734603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1664.734603 # Seafloor depth:-1714.734603 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1706.327437 meters looking forward 0.000000 meters along route # Maximum depth: 1706.327437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.327437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389639; longitude = -174.246618; captureRadius = 10; duration = 206; initialDepth = 1646.584499; finalDepth = 1656.327437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1656.327437 # Seafloor depth:-1706.327437 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.134519 meters # Minimum depth: 1696.584499 meters looking forward 0.000000 meters along route # Maximum depth: 1696.584499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.584499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390301; longitude = -174.247333; captureRadius = 10; duration = 206; initialDepth = 1642.213562; finalDepth = 1646.584499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1646.584499 # Seafloor depth:-1696.584499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 103.134519 meters # Minimum depth: 1692.213562 meters looking forward 0.000000 meters along route # Maximum depth: 1692.213562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1642.213562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390964; longitude = -174.248048; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1676.325599; finalDepth = 1642.213562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1642.213562 # Seafloor depth:-1692.213562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1726.325599 meters looking forward 0.000000 meters along route # Maximum depth: 1726.325599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.325599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391627; longitude = -174.247638; captureRadius = 10; duration = 206; initialDepth = 1729.846904; finalDepth = 1676.325599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1676.325599 # Seafloor depth:-1726.325599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1791.685975 meters looking forward 0.000000 meters along route # Maximum depth: 1791.685975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.846904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392441; longitude = -174.247135; captureRadius = 10; duration = 206; initialDepth = 1781.396562; finalDepth = 1729.846904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 61.8390712796024 # Actual altitude: 61.8390712796024 # Commanded vehicle depth:1729.8469037204 # Seafloor depth:-1791.685975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 247.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.10; MB_Bottom_Detect_Filter_Max_Range = 247.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 103.134519 meters # Minimum depth: 1850.778870 meters looking forward 0.000000 meters along route # Maximum depth: 1850.778870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.396562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393224; longitude = -174.246650; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1779.595828; finalDepth = 1781.396562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.382307951724 # Actual altitude: 69.382307951724 # Commanded vehicle depth:1781.39656204828 # Seafloor depth:-1850.778870 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.63; MB_Bottom_Detect_Filter_Max_Range = 277.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1829.595828 meters looking forward 0.000000 meters along route # Maximum depth: 1829.595828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.595828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394266; longitude = -174.247892; captureRadius = 10; duration = 206; initialDepth = 1775.277135; finalDepth = 1779.595828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.382307951724 # Actual altitude: 69.382307951724 # Commanded vehicle depth:1779.595828 # Seafloor depth:-1829.595828 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.63; MB_Bottom_Detect_Filter_Max_Range = 277.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1825.277135 meters looking forward 0.000000 meters along route # Maximum depth: 1825.277135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.277135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394891; longitude = -174.248638; captureRadius = 10; duration = 206; initialDepth = 1779.753582; finalDepth = 1775.277135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.277135 # Seafloor depth:-1825.277135 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1829.753582 meters looking forward 0.000000 meters along route # Maximum depth: 1829.753582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.753582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395516; longitude = -174.249383; captureRadius = 10; duration = 206; initialDepth = 1792.034672; finalDepth = 1779.753582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.753582 # Seafloor depth:-1829.753582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1842.034672 meters looking forward 0.000000 meters along route # Maximum depth: 1842.034672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.034672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396146; longitude = -174.250134; captureRadius = 10; duration = 206; initialDepth = 1814.180602; finalDepth = 1792.034672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1792.034672 # Seafloor depth:-1842.034672 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1864.180602 meters looking forward 0.000000 meters along route # Maximum depth: 1864.180602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.180602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396779; longitude = -174.250889; captureRadius = 10; duration = 206; initialDepth = 1825.092467; finalDepth = 1814.180602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1814.180602 # Seafloor depth:-1864.180602 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1875.092467 meters looking forward 0.000000 meters along route # Maximum depth: 1875.092467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.092467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397411; longitude = -174.251643; captureRadius = 10; duration = 206; initialDepth = 1834.009203; finalDepth = 1825.092467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.092467 # Seafloor depth:-1875.092467 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1884.009203 meters looking forward 0.000000 meters along route # Maximum depth: 1884.009203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.009203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398044; longitude = -174.252398; captureRadius = 10; duration = 206; initialDepth = 1844.553558; finalDepth = 1834.009203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1834.009203 # Seafloor depth:-1884.009203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1894.553558 meters looking forward 0.000000 meters along route # Maximum depth: 1894.553558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1844.553558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398642; longitude = -174.253111; captureRadius = 10; duration = 206; initialDepth = 1862.983582; finalDepth = 1844.553558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1844.553558 # Seafloor depth:-1894.553558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1912.983582 meters looking forward 0.000000 meters along route # Maximum depth: 1912.983582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.983582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399267; longitude = -174.253856; captureRadius = 10; duration = 206; initialDepth = 1871.321275; finalDepth = 1862.983582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1862.983582 # Seafloor depth:-1912.983582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1921.321275 meters looking forward 0.000000 meters along route # Maximum depth: 1921.321275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.321275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399892; longitude = -174.254601; captureRadius = 10; duration = 206; initialDepth = 1885.917594; finalDepth = 1871.321275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1871.321275 # Seafloor depth:-1921.321275 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1935.917594 meters looking forward 0.000000 meters along route # Maximum depth: 1935.917594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1885.917594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400517; longitude = -174.255347; captureRadius = 10; duration = 206; initialDepth = 1904.752229; finalDepth = 1885.917594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1885.917594 # Seafloor depth:-1935.917594 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1954.752229 meters looking forward 0.000000 meters along route # Maximum depth: 1954.752229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.752229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401143; longitude = -174.256092; captureRadius = 10; duration = 206; initialDepth = 1926.072145; finalDepth = 1904.752229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1904.752229 # Seafloor depth:-1954.752229 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1976.072145 meters looking forward 0.000000 meters along route # Maximum depth: 1976.072145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.072145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401768; longitude = -174.256838; captureRadius = 10; duration = 206; initialDepth = 1935.197798; finalDepth = 1926.072145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1926.072145 # Seafloor depth:-1976.072145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1985.197798 meters looking forward 0.000000 meters along route # Maximum depth: 1985.197798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.197798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402393; longitude = -174.257583; captureRadius = 10; duration = 206; initialDepth = 1919.008612; finalDepth = 1935.197798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1935.197798 # Seafloor depth:-1985.197798 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.134519 meters # Minimum depth: 1969.008612 meters looking forward 0.000000 meters along route # Maximum depth: 1969.008612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1919.008612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403018; longitude = -174.258329; captureRadius = 10; duration = 206; initialDepth = 1915.793610; finalDepth = 1919.008612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1919.008612 # Seafloor depth:-1969.008612 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 103.134519 meters # Minimum depth: 1965.793610 meters looking forward 0.000000 meters along route # Maximum depth: 1965.793610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1915.793610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403617; longitude = -174.259043; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1859.241626; finalDepth = 1915.793610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1915.79361 # Seafloor depth:-1965.793610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1909.241626 meters looking forward 0.000000 meters along route # Maximum depth: 1909.241626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.241626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402934; longitude = -174.259726; captureRadius = 10; duration = 206; initialDepth = 1796.588524; finalDepth = 1859.241626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1859.241626 # Seafloor depth:-1909.241626 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1846.588524 meters looking forward 0.000000 meters along route # Maximum depth: 1846.588524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.588524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402282; longitude = -174.260379; captureRadius = 10; duration = 206; initialDepth = 1755.098419; finalDepth = 1796.588524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1796.588524 # Seafloor depth:-1846.588524 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1805.098419 meters looking forward 0.000000 meters along route # Maximum depth: 1805.098419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.098419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401599; longitude = -174.261062; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1750.833607; finalDepth = 1755.098419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1755.098419 # Seafloor depth:-1805.098419 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1800.833607 meters looking forward 0.000000 meters along route # Maximum depth: 1800.833607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1750.833607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401107; longitude = -174.260472; captureRadius = 10; duration = 206; initialDepth = 1732.923319; finalDepth = 1750.833607; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1750.833607 # Seafloor depth:-1800.833607 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1782.923319 meters looking forward 0.000000 meters along route # Maximum depth: 1782.923319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.923319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400484; longitude = -174.259725; captureRadius = 10; duration = 206; initialDepth = 1723.284658; finalDepth = 1732.923319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1732.923319 # Seafloor depth:-1782.923319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1773.284658 meters looking forward 0.000000 meters along route # Maximum depth: 1773.284658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.284658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399852; longitude = -174.258967; captureRadius = 10; duration = 206; initialDepth = 1722.443711; finalDepth = 1723.284658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1723.284658 # Seafloor depth:-1773.284658 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1772.443711 meters looking forward 0.000000 meters along route # Maximum depth: 1772.443711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.443711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399219; longitude = -174.258208; captureRadius = 10; duration = 206; initialDepth = 1704.636263; finalDepth = 1722.443711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1722.443711 # Seafloor depth:-1772.443711 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1754.636263 meters looking forward 0.000000 meters along route # Maximum depth: 1754.636263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.636263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398620; longitude = -174.257490; captureRadius = 10; duration = 206; initialDepth = 1680.359184; finalDepth = 1704.636263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1704.636263 # Seafloor depth:-1754.636263 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1730.359184 meters looking forward 0.000000 meters along route # Maximum depth: 1730.359184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.359184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397998; longitude = -174.256745; captureRadius = 10; duration = 206; initialDepth = 1673.381012; finalDepth = 1680.359184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1680.359184 # Seafloor depth:-1730.359184 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1723.381012 meters looking forward 0.000000 meters along route # Maximum depth: 1723.381012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.381012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397377; longitude = -174.255999; captureRadius = 10; duration = 206; initialDepth = 1646.948280; finalDepth = 1673.381012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1673.381012 # Seafloor depth:-1723.381012 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1696.948280 meters looking forward 0.000000 meters along route # Maximum depth: 1696.948280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.948280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396755; longitude = -174.255254; captureRadius = 10; duration = 206; initialDepth = 1648.570920; finalDepth = 1646.948280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1646.94828 # Seafloor depth:-1696.948280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1698.570920 meters looking forward 0.000000 meters along route # Maximum depth: 1698.570920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.570920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396133; longitude = -174.254508; captureRadius = 10; duration = 206; initialDepth = 1634.368446; finalDepth = 1648.570920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1648.57092 # Seafloor depth:-1698.570920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1684.368446 meters looking forward 0.000000 meters along route # Maximum depth: 1684.368446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.368446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395512; longitude = -174.253763; captureRadius = 10; duration = 206; initialDepth = 1623.805075; finalDepth = 1634.368446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1634.368446 # Seafloor depth:-1684.368446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1673.805075 meters looking forward 0.000000 meters along route # Maximum depth: 1673.805075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.805075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394881; longitude = -174.253006; captureRadius = 10; duration = 206; initialDepth = 1619.057288; finalDepth = 1623.805075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1623.805075 # Seafloor depth:-1673.805075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1669.057288 meters looking forward 0.000000 meters along route # Maximum depth: 1669.057288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.057288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394248; longitude = -174.252248; captureRadius = 10; duration = 206; initialDepth = 1604.668148; finalDepth = 1619.057288; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1619.057288 # Seafloor depth:-1669.057288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1654.668148 meters looking forward 0.000000 meters along route # Maximum depth: 1654.668148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.668148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393615; longitude = -174.251489; captureRadius = 10; duration = 206; initialDepth = 1606.286186; finalDepth = 1604.668148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1604.668148 # Seafloor depth:-1654.668148 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1656.286186 meters looking forward 0.000000 meters along route # Maximum depth: 1656.286186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.286186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393025; longitude = -174.250781; captureRadius = 10; duration = 206; initialDepth = 1604.536910; finalDepth = 1606.286186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1606.286186 # Seafloor depth:-1656.286186 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1654.536910 meters looking forward 0.000000 meters along route # Maximum depth: 1654.536910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.536910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392403; longitude = -174.250036; captureRadius = 10; duration = 206; initialDepth = 1616.418293; finalDepth = 1604.536910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1604.53691 # Seafloor depth:-1654.536910 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1666.418293 meters looking forward 0.000000 meters along route # Maximum depth: 1666.418293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.418293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391781; longitude = -174.249290; captureRadius = 10; duration = 206; initialDepth = 1630.401198; finalDepth = 1616.418293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.418293 # Seafloor depth:-1666.418293 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.134519 meters # Minimum depth: 1680.401198 meters looking forward 0.000000 meters along route # Maximum depth: 1680.401198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.401198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391160; longitude = -174.248545; captureRadius = 10; duration = 206; initialDepth = 1643.421722; finalDepth = 1630.401198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1630.401198 # Seafloor depth:-1680.401198 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 103.134519 meters # Minimum depth: 1693.421722 meters looking forward 0.000000 meters along route # Maximum depth: 1693.421722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.421722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390512; longitude = -174.247768; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1726.464649; finalDepth = 1643.421722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1643.421722 # Seafloor depth:-1693.421722 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1784.783508 meters looking forward 0.000000 meters along route # Maximum depth: 1784.783508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.464649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391507; longitude = -174.246650; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1709.367637; finalDepth = 1726.464649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3188585806038 # Actual altitude: 58.3188585806038 # Commanded vehicle depth:1726.4646494194 # Seafloor depth:-1784.783508 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 233.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 233.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.134519 meters # Minimum depth: 1759.367637 meters looking forward 0.000000 meters along route # Maximum depth: 1759.367637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.367637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392305; longitude = -174.247613; captureRadius = 10; duration = 206; initialDepth = 1700.622475; finalDepth = 1709.367637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3188585806038 # Actual altitude: 58.3188585806038 # Commanded vehicle depth:1709.367637 # Seafloor depth:-1759.367637 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 233.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.99; MB_Bottom_Detect_Filter_Max_Range = 233.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.134519 meters # Minimum depth: 1750.622475 meters looking forward 0.000000 meters along route # Maximum depth: 1750.622475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.622475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392924; longitude = -174.248358; captureRadius = 10; duration = 206; initialDepth = 1685.687946; finalDepth = 1700.622475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1700.622475 # Seafloor depth:-1750.622475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1735.687946 meters looking forward 0.000000 meters along route # Maximum depth: 1735.687946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.687946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393542; longitude = -174.249104; captureRadius = 10; duration = 206; initialDepth = 1687.151420; finalDepth = 1685.687946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1685.687946 # Seafloor depth:-1735.687946 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1737.151420 meters looking forward 0.000000 meters along route # Maximum depth: 1737.151420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.151420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394160; longitude = -174.249849; captureRadius = 10; duration = 206; initialDepth = 1697.314819; finalDepth = 1687.151420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1687.15142 # Seafloor depth:-1737.151420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1747.314819 meters looking forward 0.000000 meters along route # Maximum depth: 1747.314819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.314819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394790; longitude = -174.250609; captureRadius = 10; duration = 206; initialDepth = 1717.904181; finalDepth = 1697.314819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1697.314819 # Seafloor depth:-1747.314819 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1767.904181 meters looking forward 0.000000 meters along route # Maximum depth: 1767.904181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1717.904181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395423; longitude = -174.251372; captureRadius = 10; duration = 206; initialDepth = 1731.310922; finalDepth = 1717.904181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1717.904181 # Seafloor depth:-1767.904181 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1781.310922 meters looking forward 0.000000 meters along route # Maximum depth: 1781.310922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.310922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396015; longitude = -174.252086; captureRadius = 10; duration = 206; initialDepth = 1742.223539; finalDepth = 1731.310922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.310922 # Seafloor depth:-1781.310922 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1792.223539 meters looking forward 0.000000 meters along route # Maximum depth: 1792.223539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.223539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396633; longitude = -174.252831; captureRadius = 10; duration = 206; initialDepth = 1747.765455; finalDepth = 1742.223539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1742.223539 # Seafloor depth:-1792.223539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1797.765455 meters looking forward 0.000000 meters along route # Maximum depth: 1797.765455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.765455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397251; longitude = -174.253576; captureRadius = 10; duration = 206; initialDepth = 1759.474192; finalDepth = 1747.765455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.765455 # Seafloor depth:-1797.765455 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1809.474192 meters looking forward 0.000000 meters along route # Maximum depth: 1809.474192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.474192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397869; longitude = -174.254322; captureRadius = 10; duration = 206; initialDepth = 1776.123475; finalDepth = 1759.474192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1759.474192 # Seafloor depth:-1809.474192 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1826.123475 meters looking forward 0.000000 meters along route # Maximum depth: 1826.123475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.123475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398496; longitude = -174.255077; captureRadius = 10; duration = 206; initialDepth = 1785.491481; finalDepth = 1776.123475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.123475 # Seafloor depth:-1826.123475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1835.491481 meters looking forward 0.000000 meters along route # Maximum depth: 1835.491481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.491481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399129; longitude = -174.255840; captureRadius = 10; duration = 206; initialDepth = 1809.674320; finalDepth = 1785.491481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1785.491481 # Seafloor depth:-1835.491481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1859.674320 meters looking forward 0.000000 meters along route # Maximum depth: 1859.674320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.674320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399724; longitude = -174.256558; captureRadius = 10; duration = 206; initialDepth = 1827.901179; finalDepth = 1809.674320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1809.67432 # Seafloor depth:-1859.674320 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1877.901179 meters looking forward 0.000000 meters along route # Maximum depth: 1877.901179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.901179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400342; longitude = -174.257304; captureRadius = 10; duration = 206; initialDepth = 1835.066548; finalDepth = 1827.901179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1827.901179 # Seafloor depth:-1877.901179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1885.066548 meters looking forward 0.000000 meters along route # Maximum depth: 1885.066548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.066548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400960; longitude = -174.258049; captureRadius = 10; duration = 206; initialDepth = 1829.635102; finalDepth = 1835.066548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1835.066548 # Seafloor depth:-1885.066548 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1879.635102 meters looking forward 0.000000 meters along route # Maximum depth: 1879.635102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.635102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401579; longitude = -174.258795; captureRadius = 10; duration = 206; initialDepth = 1831.450409; finalDepth = 1829.635102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.635102 # Seafloor depth:-1879.635102 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1881.450409 meters looking forward 0.000000 meters along route # Maximum depth: 1881.450409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.450409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402171; longitude = -174.259509; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1829.937700; finalDepth = 1831.450409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1831.450409 # Seafloor depth:-1881.450409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1879.937700 meters looking forward 0.000000 meters along route # Maximum depth: 1879.937700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.937700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402653; longitude = -174.260064; captureRadius = 10; duration = 206; initialDepth = 1828.842202; finalDepth = 1829.937700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.9377 # Seafloor depth:-1879.937700 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1878.842202 meters looking forward 0.000000 meters along route # Maximum depth: 1878.842202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1828.842202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403286; longitude = -174.260791; captureRadius = 10; duration = 206; initialDepth = 1834.781842; finalDepth = 1828.842202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1828.842202 # Seafloor depth:-1878.842202 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1884.781842 meters looking forward 0.000000 meters along route # Maximum depth: 1884.781842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.781842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403919; longitude = -174.261518; captureRadius = 10; duration = 206; initialDepth = 1836.152880; finalDepth = 1834.781842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1834.781842 # Seafloor depth:-1884.781842 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1886.152880 meters looking forward 0.000000 meters along route # Maximum depth: 1886.152880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.152880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404551; longitude = -174.262246; captureRadius = 10; duration = 206; initialDepth = 1826.436963; finalDepth = 1836.152880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1836.15288 # Seafloor depth:-1886.152880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1876.436963 meters looking forward 0.000000 meters along route # Maximum depth: 1876.436963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.436963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405197; longitude = -174.262988; captureRadius = 10; duration = 206; initialDepth = 1814.628600; finalDepth = 1826.436963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.436963 # Seafloor depth:-1876.436963 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1864.628600 meters looking forward 0.000000 meters along route # Maximum depth: 1864.628600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.628600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405845; longitude = -174.263733; captureRadius = 10; duration = 206; initialDepth = 1823.852557; finalDepth = 1814.628600; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1814.6286 # Seafloor depth:-1864.628600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1873.852557 meters looking forward 0.000000 meters along route # Maximum depth: 1873.852557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1823.852557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406449; longitude = -174.264428; captureRadius = 10; duration = 206; initialDepth = 1818.887732; finalDepth = 1823.852557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1823.852557 # Seafloor depth:-1873.852557 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1868.887732 meters looking forward 0.000000 meters along route # Maximum depth: 1868.887732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.887732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407082; longitude = -174.265155; captureRadius = 10; duration = 206; initialDepth = 1854.703395; finalDepth = 1818.887732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.887732 # Seafloor depth:-1868.887732 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1904.703395 meters looking forward 0.000000 meters along route # Maximum depth: 1904.703395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.703395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407715; longitude = -174.265883; captureRadius = 10; duration = 206; initialDepth = 1848.389136; finalDepth = 1854.703395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1854.703395 # Seafloor depth:-1904.703395 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1898.389136 meters looking forward 0.000000 meters along route # Maximum depth: 1898.389136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1848.389136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408358; longitude = -174.266622; captureRadius = 10; duration = 206; initialDepth = 1841.831566; finalDepth = 1848.389136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1848.389136 # Seafloor depth:-1898.389136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1891.831566 meters looking forward 0.000000 meters along route # Maximum depth: 1891.831566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.831566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409006; longitude = -174.267367; captureRadius = 10; duration = 206; initialDepth = 1835.221547; finalDepth = 1841.831566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1841.831566 # Seafloor depth:-1891.831566 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1885.221547 meters looking forward 0.000000 meters along route # Maximum depth: 1885.221547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1835.221547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409613; longitude = -174.268065; captureRadius = 10; duration = 206; initialDepth = 1825.552984; finalDepth = 1835.221547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1835.221547 # Seafloor depth:-1885.221547 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1875.552984 meters looking forward 0.000000 meters along route # Maximum depth: 1875.552984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.552984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410245; longitude = -174.268792; captureRadius = 10; duration = 206; initialDepth = 1811.054009; finalDepth = 1825.552984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.552984 # Seafloor depth:-1875.552984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1861.054009 meters looking forward 0.000000 meters along route # Maximum depth: 1861.054009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.054009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410878; longitude = -174.269519; captureRadius = 10; duration = 206; initialDepth = 1798.066151; finalDepth = 1811.054009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1811.054009 # Seafloor depth:-1861.054009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1848.066151 meters looking forward 0.000000 meters along route # Maximum depth: 1848.066151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.066151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411519; longitude = -174.270256; captureRadius = 10; duration = 206; initialDepth = 1784.568021; finalDepth = 1798.066151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.066151 # Seafloor depth:-1848.066151 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1834.568021 meters looking forward 0.000000 meters along route # Maximum depth: 1834.568021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.568021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412167; longitude = -174.271002; captureRadius = 10; duration = 206; initialDepth = 1774.877359; finalDepth = 1784.568021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1784.568021 # Seafloor depth:-1834.568021 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1824.877359 meters looking forward 0.000000 meters along route # Maximum depth: 1824.877359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.877359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412776; longitude = -174.271702; captureRadius = 10; duration = 206; initialDepth = 1780.503571; finalDepth = 1774.877359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1774.877359 # Seafloor depth:-1824.877359 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1830.503571 meters looking forward 0.000000 meters along route # Maximum depth: 1830.503571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1780.503571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413408; longitude = -174.272429; captureRadius = 10; duration = 206; initialDepth = 1782.445557; finalDepth = 1780.503571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1780.503571 # Seafloor depth:-1830.503571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1832.445557 meters looking forward 0.000000 meters along route # Maximum depth: 1832.445557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.445557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414041; longitude = -174.273156; captureRadius = 10; duration = 206; initialDepth = 1762.950141; finalDepth = 1782.445557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.445557 # Seafloor depth:-1832.445557 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1812.950141 meters looking forward 0.000000 meters along route # Maximum depth: 1812.950141 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.950141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414679; longitude = -174.273890; captureRadius = 10; duration = 206; initialDepth = 1756.833536; finalDepth = 1762.950141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.950141 # Seafloor depth:-1812.950141 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1806.833536 meters looking forward 0.000000 meters along route # Maximum depth: 1806.833536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.833536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415328; longitude = -174.274636; captureRadius = 10; duration = 206; initialDepth = 1782.681947; finalDepth = 1756.833536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.833536 # Seafloor depth:-1806.833536 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1832.681947 meters looking forward 0.000000 meters along route # Maximum depth: 1832.681947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.681947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415939; longitude = -174.275338; captureRadius = 10; duration = 206; initialDepth = 1776.442924; finalDepth = 1782.681947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.681947 # Seafloor depth:-1832.681947 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1826.442924 meters looking forward 0.000000 meters along route # Maximum depth: 1826.442924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.442924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416572; longitude = -174.276066; captureRadius = 10; duration = 206; initialDepth = 1783.042413; finalDepth = 1776.442924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.442924 # Seafloor depth:-1826.442924 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1833.042413 meters looking forward 0.000000 meters along route # Maximum depth: 1833.042413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.042413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417204; longitude = -174.276793; captureRadius = 10; duration = 206; initialDepth = 1767.237152; finalDepth = 1783.042413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1783.042413 # Seafloor depth:-1833.042413 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1817.237152 meters looking forward 0.000000 meters along route # Maximum depth: 1817.237152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.237152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417867; longitude = -174.277555; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1747.532926; finalDepth = 1767.237152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1767.237152 # Seafloor depth:-1817.237152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1797.532926 meters looking forward 0.000000 meters along route # Maximum depth: 1797.532926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.532926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418831; longitude = -174.278306; captureRadius = 10; duration = 206; initialDepth = 1700.993505; finalDepth = 1747.532926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.532926 # Seafloor depth:-1797.532926 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1750.993505 meters looking forward 0.000000 meters along route # Maximum depth: 1750.993505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.993505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419554; longitude = -174.278870; captureRadius = 10; duration = 206; initialDepth = 1697.181394; finalDepth = 1700.993505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1700.993505 # Seafloor depth:-1750.993505 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1747.181394 meters looking forward 0.000000 meters along route # Maximum depth: 1747.181394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.181394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420277; longitude = -174.279433; captureRadius = 10; duration = 206; initialDepth = 1674.637243; finalDepth = 1697.181394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1697.181394 # Seafloor depth:-1747.181394 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1724.637243 meters looking forward 0.000000 meters along route # Maximum depth: 1724.637243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.637243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421000; longitude = -174.279996; captureRadius = 10; duration = 206; initialDepth = 1665.878779; finalDepth = 1674.637243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1674.637243 # Seafloor depth:-1724.637243 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1715.878779 meters looking forward 0.000000 meters along route # Maximum depth: 1715.878779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.878779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421723; longitude = -174.280560; captureRadius = 10; duration = 206; initialDepth = 1651.378831; finalDepth = 1665.878779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1665.878779 # Seafloor depth:-1715.878779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1701.378831 meters looking forward 0.000000 meters along route # Maximum depth: 1701.378831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.378831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422446; longitude = -174.281123; captureRadius = 10; duration = 206; initialDepth = 1621.997010; finalDepth = 1651.378831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1651.378831 # Seafloor depth:-1701.378831 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1671.997010 meters looking forward 0.000000 meters along route # Maximum depth: 1671.997010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.997010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423169; longitude = -174.281686; captureRadius = 10; duration = 206; initialDepth = 1612.284467; finalDepth = 1621.997010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1621.99701 # Seafloor depth:-1671.997010 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1662.284467 meters looking forward 0.000000 meters along route # Maximum depth: 1662.284467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.284467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423892; longitude = -174.282250; captureRadius = 10; duration = 206; initialDepth = 1621.435912; finalDepth = 1612.284467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1612.284467 # Seafloor depth:-1662.284467 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1671.435912 meters looking forward 0.000000 meters along route # Maximum depth: 1671.435912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.435912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424615; longitude = -174.282813; captureRadius = 10; duration = 206; initialDepth = 1658.793902; finalDepth = 1621.435912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1621.435912 # Seafloor depth:-1671.435912 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1708.793902 meters looking forward 0.000000 meters along route # Maximum depth: 1708.793902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.793902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425338; longitude = -174.283376; captureRadius = 10; duration = 206; initialDepth = 1699.111779; finalDepth = 1658.793902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1658.793902 # Seafloor depth:-1708.793902 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1749.111779 meters looking forward 0.000000 meters along route # Maximum depth: 1749.111779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.111779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426061; longitude = -174.283940; captureRadius = 10; duration = 206; initialDepth = 1725.037965; finalDepth = 1699.111779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.111779 # Seafloor depth:-1749.111779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1775.037965 meters looking forward 0.000000 meters along route # Maximum depth: 1775.037965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.037965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426785; longitude = -174.284503; captureRadius = 10; duration = 206; initialDepth = 1721.117615; finalDepth = 1725.037965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1725.037965 # Seafloor depth:-1775.037965 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1771.117615 meters looking forward 0.000000 meters along route # Maximum depth: 1771.117615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.117615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.427508; longitude = -174.285066; captureRadius = 10; duration = 206; initialDepth = 1711.491733; finalDepth = 1721.117615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1721.117615 # Seafloor depth:-1771.117615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1761.491733 meters looking forward 0.000000 meters along route # Maximum depth: 1761.491733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.491733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428233; longitude = -174.285631; captureRadius = 10; duration = 206; initialDepth = 1693.060459; finalDepth = 1711.491733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.491733 # Seafloor depth:-1761.491733 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1743.060459 meters looking forward 0.000000 meters along route # Maximum depth: 1743.060459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.060459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428954; longitude = -174.286193; captureRadius = 10; duration = 206; initialDepth = 1677.221919; finalDepth = 1693.060459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1693.060459 # Seafloor depth:-1743.060459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1727.221919 meters looking forward 0.000000 meters along route # Maximum depth: 1727.221919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.221919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429677; longitude = -174.286756; captureRadius = 10; duration = 206; initialDepth = 1680.973331; finalDepth = 1677.221919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1677.221919 # Seafloor depth:-1727.221919 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1730.973331 meters looking forward 0.000000 meters along route # Maximum depth: 1730.973331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1680.973331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.430400; longitude = -174.287320; captureRadius = 10; duration = 206; initialDepth = 1659.083618; finalDepth = 1680.973331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1680.973331 # Seafloor depth:-1730.973331 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 103.134519 meters # Minimum depth: 1709.083618 meters looking forward 0.000000 meters along route # Maximum depth: 1709.083618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.083618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.431183; longitude = -174.287930; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1713.951969; finalDepth = 1659.083618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1659.083618 # Seafloor depth:-1709.083618 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1784.877760 meters looking forward 0.000000 meters along route # Maximum depth: 1784.877760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.951969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.430567; longitude = -174.288706; captureRadius = 10; duration = 206; initialDepth = 1766.648952; finalDepth = 1713.951969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9257911183545 # Actual altitude: 70.9257911183545 # Commanded vehicle depth:1713.95196888165 # Seafloor depth:-1784.877760 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.56; MB_Bottom_Detect_Filter_Max_Range = 283.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.134519 meters # Minimum depth: 1827.836663 meters looking forward 0.000000 meters along route # Maximum depth: 1827.836663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.648952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429976; longitude = -174.289452; captureRadius = 10; duration = 206; initialDepth = 1731.107953; finalDepth = 1766.648952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9257911183545 # Actual altitude: 70.9257911183545 # Commanded vehicle depth:1766.64895162715 # Seafloor depth:-1827.836663 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.56; MB_Bottom_Detect_Filter_Max_Range = 283.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.134519 meters # Minimum depth: 1781.107953 meters looking forward 0.000000 meters along route # Maximum depth: 1781.107953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.107953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429385; longitude = -174.290197; captureRadius = 10; duration = 206; initialDepth = 1718.114182; finalDepth = 1731.107953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.1877113728533 # Actual altitude: 61.1877113728533 # Commanded vehicle depth:1731.107953 # Seafloor depth:-1781.107953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 244.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.71; MB_Bottom_Detect_Filter_Max_Range = 244.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.134519 meters # Minimum depth: 1768.114182 meters looking forward 0.000000 meters along route # Maximum depth: 1768.114182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.114182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428793; longitude = -174.290943; captureRadius = 10; duration = 206; initialDepth = 1760.999345; finalDepth = 1718.114182; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1718.114182 # Seafloor depth:-1768.114182 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1810.999345 meters looking forward 0.000000 meters along route # Maximum depth: 1810.999345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.999345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428202; longitude = -174.291688; captureRadius = 10; duration = 206; initialDepth = 1783.141945; finalDepth = 1760.999345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1760.999345 # Seafloor depth:-1810.999345 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1833.141945 meters looking forward 0.000000 meters along route # Maximum depth: 1833.141945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.141945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.427598; longitude = -174.292450; captureRadius = 10; duration = 206; initialDepth = 1810.491974; finalDepth = 1783.141945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1783.141945 # Seafloor depth:-1833.141945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1860.491974 meters looking forward 0.000000 meters along route # Maximum depth: 1860.491974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1810.491974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426995; longitude = -174.293210; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1808.337045; finalDepth = 1810.491974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1810.491974 # Seafloor depth:-1860.491974 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1858.337045 meters looking forward 0.000000 meters along route # Maximum depth: 1858.337045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.337045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426061; longitude = -174.292472; captureRadius = 10; duration = 206; initialDepth = 1792.564305; finalDepth = 1808.337045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1808.337045 # Seafloor depth:-1858.337045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1842.564305 meters looking forward 0.000000 meters along route # Maximum depth: 1842.564305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.564305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425338; longitude = -174.291900; captureRadius = 10; duration = 206; initialDepth = 1783.568924; finalDepth = 1792.564305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1792.564305 # Seafloor depth:-1842.564305 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1833.568924 meters looking forward 0.000000 meters along route # Maximum depth: 1833.568924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.568924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424615; longitude = -174.291328; captureRadius = 10; duration = 206; initialDepth = 1779.344204; finalDepth = 1783.568924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1783.568924 # Seafloor depth:-1833.568924 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1829.344204 meters looking forward 0.000000 meters along route # Maximum depth: 1829.344204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.344204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423892; longitude = -174.290756; captureRadius = 10; duration = 206; initialDepth = 1754.365737; finalDepth = 1779.344204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.344204 # Seafloor depth:-1829.344204 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1804.365737 meters looking forward 0.000000 meters along route # Maximum depth: 1804.365737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.365737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423169; longitude = -174.290185; captureRadius = 10; duration = 206; initialDepth = 1762.563146; finalDepth = 1754.365737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1754.365737 # Seafloor depth:-1804.365737 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1812.563146 meters looking forward 0.000000 meters along route # Maximum depth: 1812.563146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.563146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422446; longitude = -174.289613; captureRadius = 10; duration = 206; initialDepth = 1754.699075; finalDepth = 1762.563146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.563146 # Seafloor depth:-1812.563146 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1804.699075 meters looking forward 0.000000 meters along route # Maximum depth: 1804.699075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.699075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421723; longitude = -174.289042; captureRadius = 10; duration = 206; initialDepth = 1747.047083; finalDepth = 1754.699075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1754.699075 # Seafloor depth:-1804.699075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1797.047083 meters looking forward 0.000000 meters along route # Maximum depth: 1797.047083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.047083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421000; longitude = -174.288470; captureRadius = 10; duration = 206; initialDepth = 1747.563051; finalDepth = 1747.047083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.047083 # Seafloor depth:-1797.047083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1797.563051 meters looking forward 0.000000 meters along route # Maximum depth: 1797.563051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.563051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420277; longitude = -174.287898; captureRadius = 10; duration = 206; initialDepth = 1745.684384; finalDepth = 1747.563051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1747.563051 # Seafloor depth:-1797.563051 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1795.684384 meters looking forward 0.000000 meters along route # Maximum depth: 1795.684384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.684384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419554; longitude = -174.287326; captureRadius = 10; duration = 206; initialDepth = 1746.017673; finalDepth = 1745.684384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1745.684384 # Seafloor depth:-1795.684384 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1796.017673 meters looking forward 0.000000 meters along route # Maximum depth: 1796.017673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.017673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418831; longitude = -174.286755; captureRadius = 10; duration = 206; initialDepth = 1767.701110; finalDepth = 1746.017673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.017673 # Seafloor depth:-1796.017673 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1817.701110 meters looking forward 0.000000 meters along route # Maximum depth: 1817.701110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.701110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418108; longitude = -174.286183; captureRadius = 10; duration = 206; initialDepth = 1794.305376; finalDepth = 1767.701110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1767.70111 # Seafloor depth:-1817.701110 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1844.305376 meters looking forward 0.000000 meters along route # Maximum depth: 1844.305376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.305376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417385; longitude = -174.285611; captureRadius = 10; duration = 206; initialDepth = 1827.049969; finalDepth = 1794.305376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1794.305376 # Seafloor depth:-1844.305376 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1877.049969 meters looking forward 0.000000 meters along route # Maximum depth: 1877.049969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.049969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416662; longitude = -174.285040; captureRadius = 10; duration = 206; initialDepth = 1833.892990; finalDepth = 1827.049969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1827.049969 # Seafloor depth:-1877.049969 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1883.892990 meters looking forward 0.000000 meters along route # Maximum depth: 1883.892990 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.892990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415939; longitude = -174.284468; captureRadius = 10; duration = 206; initialDepth = 1843.517691; finalDepth = 1833.892990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1833.89299 # Seafloor depth:-1883.892990 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1893.517691 meters looking forward 0.000000 meters along route # Maximum depth: 1893.517691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.517691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415216; longitude = -174.283896; captureRadius = 10; duration = 206; initialDepth = 1863.642650; finalDepth = 1843.517691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1843.517691 # Seafloor depth:-1893.517691 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1913.642650 meters looking forward 0.000000 meters along route # Maximum depth: 1913.642650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1863.642650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414493; longitude = -174.283324; captureRadius = 10; duration = 206; initialDepth = 1862.130415; finalDepth = 1863.642650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1863.64265 # Seafloor depth:-1913.642650 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1912.130415 meters looking forward 0.000000 meters along route # Maximum depth: 1912.130415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1862.130415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413770; longitude = -174.282753; captureRadius = 10; duration = 206; initialDepth = 1852.450845; finalDepth = 1862.130415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1862.130415 # Seafloor depth:-1912.130415 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1902.450845 meters looking forward 0.000000 meters along route # Maximum depth: 1902.450845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.450845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413047; longitude = -174.282181; captureRadius = 10; duration = 206; initialDepth = 1838.964813; finalDepth = 1852.450845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1852.450845 # Seafloor depth:-1902.450845 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 103.134519 meters # Minimum depth: 1888.964813 meters looking forward 0.000000 meters along route # Maximum depth: 1888.964813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.964813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412264; longitude = -174.281562; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1841.986511; finalDepth = 1838.964813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1838.964813 # Seafloor depth:-1888.964813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 24 # Segment length 103.134519 meters # Minimum depth: 1891.986511 meters looking forward 0.000000 meters along route # Maximum depth: 1891.986511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.986511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413167; longitude = -174.280630; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1829.393379; finalDepth = 1841.986511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1841.986511 # Seafloor depth:-1891.986511 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1879.393379 meters looking forward 0.000000 meters along route # Maximum depth: 1879.393379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.393379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414312; longitude = -174.281543; captureRadius = 10; duration = 206; initialDepth = 1815.259929; finalDepth = 1829.393379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.393379 # Seafloor depth:-1879.393379 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1865.259929 meters looking forward 0.000000 meters along route # Maximum depth: 1865.259929 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.259929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415035; longitude = -174.282120; captureRadius = 10; duration = 206; initialDepth = 1800.549487; finalDepth = 1815.259929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1815.259929 # Seafloor depth:-1865.259929 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1850.549487 meters looking forward 0.000000 meters along route # Maximum depth: 1850.549487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.549487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415758; longitude = -174.282697; captureRadius = 10; duration = 206; initialDepth = 1809.136730; finalDepth = 1800.549487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1800.549487 # Seafloor depth:-1850.549487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1859.136730 meters looking forward 0.000000 meters along route # Maximum depth: 1859.136730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.136730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416481; longitude = -174.283273; captureRadius = 10; duration = 206; initialDepth = 1798.866733; finalDepth = 1809.136730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1809.13673 # Seafloor depth:-1859.136730 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1848.866733 meters looking forward 0.000000 meters along route # Maximum depth: 1848.866733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.866733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417204; longitude = -174.283850; captureRadius = 10; duration = 206; initialDepth = 1761.642456; finalDepth = 1798.866733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.866733 # Seafloor depth:-1848.866733 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1811.642456 meters looking forward 0.000000 meters along route # Maximum depth: 1811.642456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.642456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417927; longitude = -174.284426; captureRadius = 10; duration = 206; initialDepth = 1716.884613; finalDepth = 1761.642456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.642456 # Seafloor depth:-1811.642456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1766.884613 meters looking forward 0.000000 meters along route # Maximum depth: 1766.884613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.884613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418650; longitude = -174.285003; captureRadius = 10; duration = 206; initialDepth = 1684.267597; finalDepth = 1716.884613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1716.884613 # Seafloor depth:-1766.884613 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1734.267597 meters looking forward 0.000000 meters along route # Maximum depth: 1734.267597 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.267597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419373; longitude = -174.285580; captureRadius = 10; duration = 206; initialDepth = 1669.876558; finalDepth = 1684.267597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1684.267597 # Seafloor depth:-1734.267597 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1719.876558 meters looking forward 0.000000 meters along route # Maximum depth: 1719.876558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.876558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420096; longitude = -174.286156; captureRadius = 10; duration = 206; initialDepth = 1666.139878; finalDepth = 1669.876558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1669.876558 # Seafloor depth:-1719.876558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1716.139878 meters looking forward 0.000000 meters along route # Maximum depth: 1716.139878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.139878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420820; longitude = -174.286733; captureRadius = 10; duration = 206; initialDepth = 1684.353643; finalDepth = 1666.139878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.139878 # Seafloor depth:-1716.139878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1734.353643 meters looking forward 0.000000 meters along route # Maximum depth: 1734.353643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.353643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421543; longitude = -174.287309; captureRadius = 10; duration = 206; initialDepth = 1685.978653; finalDepth = 1684.353643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1684.353643 # Seafloor depth:-1734.353643 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1735.978653 meters looking forward 0.000000 meters along route # Maximum depth: 1735.978653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.978653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422266; longitude = -174.287886; captureRadius = 10; duration = 206; initialDepth = 1699.558350; finalDepth = 1685.978653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1685.978653 # Seafloor depth:-1735.978653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1749.558350 meters looking forward 0.000000 meters along route # Maximum depth: 1749.558350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.558350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422989; longitude = -174.288463; captureRadius = 10; duration = 206; initialDepth = 1722.235266; finalDepth = 1699.558350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1699.55835 # Seafloor depth:-1749.558350 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1772.235266 meters looking forward 0.000000 meters along route # Maximum depth: 1772.235266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.235266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423712; longitude = -174.289039; captureRadius = 10; duration = 206; initialDepth = 1718.291022; finalDepth = 1722.235266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1722.235266 # Seafloor depth:-1772.235266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1768.291022 meters looking forward 0.000000 meters along route # Maximum depth: 1768.291022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.291022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424435; longitude = -174.289616; captureRadius = 10; duration = 206; initialDepth = 1708.812475; finalDepth = 1718.291022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1718.291022 # Seafloor depth:-1768.291022 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1758.812475 meters looking forward 0.000000 meters along route # Maximum depth: 1758.812475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1708.812475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425164; longitude = -174.290197; captureRadius = 10; duration = 206; initialDepth = 1726.367506; finalDepth = 1708.812475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1708.812475 # Seafloor depth:-1758.812475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1776.367506 meters looking forward 0.000000 meters along route # Maximum depth: 1776.367506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.367506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425881; longitude = -174.290769; captureRadius = 10; duration = 206; initialDepth = 1735.600984; finalDepth = 1726.367506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1726.367506 # Seafloor depth:-1776.367506 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1785.600984 meters looking forward 0.000000 meters along route # Maximum depth: 1785.600984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.600984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426604; longitude = -174.291346; captureRadius = 10; duration = 206; initialDepth = 1758.001747; finalDepth = 1735.600984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1735.600984 # Seafloor depth:-1785.600984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1808.001747 meters looking forward 0.000000 meters along route # Maximum depth: 1808.001747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.001747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.427327; longitude = -174.291922; captureRadius = 10; duration = 206; initialDepth = 1772.406944; finalDepth = 1758.001747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1758.001747 # Seafloor depth:-1808.001747 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1822.406944 meters looking forward 0.000000 meters along route # Maximum depth: 1822.406944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.406944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428050; longitude = -174.292499; captureRadius = 10; duration = 206; initialDepth = 1806.349117; finalDepth = 1772.406944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1772.406944 # Seafloor depth:-1822.406944 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1856.349117 meters looking forward 0.000000 meters along route # Maximum depth: 1856.349117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1806.349117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428786; longitude = -174.293086; captureRadius = 10; duration = 206; initialDepth = 1817.102448; finalDepth = 1806.349117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1806.349117 # Seafloor depth:-1856.349117 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 103.134519 meters # Minimum depth: 1867.102448 meters looking forward 0.000000 meters along route # Maximum depth: 1867.102448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.102448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429526; longitude = -174.293676; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1840.383972; finalDepth = 1817.102448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1817.102448 # Seafloor depth:-1867.102448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1890.383972 meters looking forward 0.000000 meters along route # Maximum depth: 1890.383972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.383972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.430460; longitude = -174.292589; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1771.240401; finalDepth = 1840.383972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1840.383972 # Seafloor depth:-1890.383972 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1821.240401 meters looking forward 0.000000 meters along route # Maximum depth: 1821.240401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.240401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429586; longitude = -174.291896; captureRadius = 10; duration = 206; initialDepth = 1735.010905; finalDepth = 1771.240401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.240401 # Seafloor depth:-1821.240401 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1785.010905 meters looking forward 0.000000 meters along route # Maximum depth: 1785.010905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.010905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428863; longitude = -174.291322; captureRadius = 10; duration = 206; initialDepth = 1728.792952; finalDepth = 1735.010905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1735.010905 # Seafloor depth:-1785.010905 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1778.792952 meters looking forward 0.000000 meters along route # Maximum depth: 1778.792952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.792952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428140; longitude = -174.290748; captureRadius = 10; duration = 206; initialDepth = 1692.378831; finalDepth = 1728.792952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1728.792952 # Seafloor depth:-1778.792952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1742.378831 meters looking forward 0.000000 meters along route # Maximum depth: 1742.378831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.378831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.427417; longitude = -174.290174; captureRadius = 10; duration = 206; initialDepth = 1685.612872; finalDepth = 1692.378831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1692.378831 # Seafloor depth:-1742.378831 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1735.612872 meters looking forward 0.000000 meters along route # Maximum depth: 1735.612872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.612872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426694; longitude = -174.289601; captureRadius = 10; duration = 206; initialDepth = 1664.166887; finalDepth = 1685.612872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1685.612872 # Seafloor depth:-1735.612872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1714.166887 meters looking forward 0.000000 meters along route # Maximum depth: 1714.166887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.166887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425971; longitude = -174.289027; captureRadius = 10; duration = 206; initialDepth = 1675.548133; finalDepth = 1664.166887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1664.166887 # Seafloor depth:-1714.166887 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1725.548133 meters looking forward 0.000000 meters along route # Maximum depth: 1725.548133 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.548133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425248; longitude = -174.288453; captureRadius = 10; duration = 206; initialDepth = 1679.401760; finalDepth = 1675.548133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1675.548133 # Seafloor depth:-1725.548133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1729.401760 meters looking forward 0.000000 meters along route # Maximum depth: 1729.401760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.401760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424525; longitude = -174.287880; captureRadius = 10; duration = 206; initialDepth = 1643.925741; finalDepth = 1679.401760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1679.40176 # Seafloor depth:-1729.401760 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1693.925741 meters looking forward 0.000000 meters along route # Maximum depth: 1693.925741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.925741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423802; longitude = -174.287306; captureRadius = 10; duration = 206; initialDepth = 1596.666305; finalDepth = 1643.925741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1643.925741 # Seafloor depth:-1693.925741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1646.666305 meters looking forward 0.000000 meters along route # Maximum depth: 1646.666305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.666305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423079; longitude = -174.286732; captureRadius = 10; duration = 206; initialDepth = 1599.361355; finalDepth = 1596.666305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1596.666305 # Seafloor depth:-1646.666305 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1649.361355 meters looking forward 0.000000 meters along route # Maximum depth: 1649.361355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.361355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422356; longitude = -174.286158; captureRadius = 10; duration = 206; initialDepth = 1592.947860; finalDepth = 1599.361355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1599.361355 # Seafloor depth:-1649.361355 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1642.947860 meters looking forward 0.000000 meters along route # Maximum depth: 1642.947860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.947860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421633; longitude = -174.285585; captureRadius = 10; duration = 206; initialDepth = 1596.396704; finalDepth = 1592.947860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1592.94786 # Seafloor depth:-1642.947860 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1646.396704 meters looking forward 0.000000 meters along route # Maximum depth: 1646.396704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.396704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420910; longitude = -174.285011; captureRadius = 10; duration = 206; initialDepth = 1630.752425; finalDepth = 1596.396704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1596.396704 # Seafloor depth:-1646.396704 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1680.752425 meters looking forward 0.000000 meters along route # Maximum depth: 1680.752425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.752425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420187; longitude = -174.284437; captureRadius = 10; duration = 206; initialDepth = 1666.420599; finalDepth = 1630.752425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1630.752425 # Seafloor depth:-1680.752425 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1716.420599 meters looking forward 0.000000 meters along route # Maximum depth: 1716.420599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.420599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419460; longitude = -174.283861; captureRadius = 10; duration = 206; initialDepth = 1703.347728; finalDepth = 1666.420599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1666.420599 # Seafloor depth:-1716.420599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1753.347728 meters looking forward 0.000000 meters along route # Maximum depth: 1753.347728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.347728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418741; longitude = -174.283290; captureRadius = 10; duration = 206; initialDepth = 1731.775583; finalDepth = 1703.347728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1703.347728 # Seafloor depth:-1753.347728 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1781.775583 meters looking forward 0.000000 meters along route # Maximum depth: 1781.775583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.775583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418018; longitude = -174.282716; captureRadius = 10; duration = 206; initialDepth = 1764.714296; finalDepth = 1731.775583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.775583 # Seafloor depth:-1781.775583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1814.714296 meters looking forward 0.000000 meters along route # Maximum depth: 1814.714296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.714296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417295; longitude = -174.282142; captureRadius = 10; duration = 206; initialDepth = 1776.764146; finalDepth = 1764.714296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1764.714296 # Seafloor depth:-1814.714296 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1826.764146 meters looking forward 0.000000 meters along route # Maximum depth: 1826.764146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.764146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416572; longitude = -174.281568; captureRadius = 10; duration = 206; initialDepth = 1809.401685; finalDepth = 1776.764146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.764146 # Seafloor depth:-1826.764146 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1859.401685 meters looking forward 0.000000 meters along route # Maximum depth: 1859.401685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.401685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415849; longitude = -174.280995; captureRadius = 10; duration = 206; initialDepth = 1825.031003; finalDepth = 1809.401685; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1809.401685 # Seafloor depth:-1859.401685 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1875.031003 meters looking forward 0.000000 meters along route # Maximum depth: 1875.031003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.031003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415115; longitude = -174.280413; captureRadius = 10; duration = 206; initialDepth = 1822.113800; finalDepth = 1825.031003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.031003 # Seafloor depth:-1875.031003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 103.134519 meters # Minimum depth: 1872.113800 meters looking forward 0.000000 meters along route # Maximum depth: 1872.113800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.113800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414372; longitude = -174.279823; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1795.721863; finalDepth = 1822.113800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1822.1138 # Seafloor depth:-1872.113800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1845.721863 meters looking forward 0.000000 meters along route # Maximum depth: 1845.721863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.721863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415457; longitude = -174.278984; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1796.412181; finalDepth = 1795.721863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.721863 # Seafloor depth:-1845.721863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1846.412181 meters looking forward 0.000000 meters along route # Maximum depth: 1846.412181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.412181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416029; longitude = -174.279439; captureRadius = 10; duration = 206; initialDepth = 1777.175821; finalDepth = 1796.412181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1796.412181 # Seafloor depth:-1846.412181 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1827.175821 meters looking forward 0.000000 meters along route # Maximum depth: 1827.175821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.175821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416752; longitude = -174.280014; captureRadius = 10; duration = 206; initialDepth = 1746.558277; finalDepth = 1777.175821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1777.175821 # Seafloor depth:-1827.175821 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1796.558277 meters looking forward 0.000000 meters along route # Maximum depth: 1796.558277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.558277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417475; longitude = -174.280589; captureRadius = 10; duration = 206; initialDepth = 1689.200337; finalDepth = 1746.558277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.558277 # Seafloor depth:-1796.558277 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1739.200337 meters looking forward 0.000000 meters along route # Maximum depth: 1739.200337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.200337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418199; longitude = -174.281163; captureRadius = 10; duration = 206; initialDepth = 1655.803882; finalDepth = 1689.200337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1689.200337 # Seafloor depth:-1739.200337 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1705.803882 meters looking forward 0.000000 meters along route # Maximum depth: 1705.803882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.803882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418922; longitude = -174.281738; captureRadius = 10; duration = 206; initialDepth = 1638.095027; finalDepth = 1655.803882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1655.803882 # Seafloor depth:-1705.803882 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1688.095027 meters looking forward 0.000000 meters along route # Maximum depth: 1688.095027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.095027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419645; longitude = -174.282313; captureRadius = 10; duration = 206; initialDepth = 1587.950556; finalDepth = 1638.095027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1638.095027 # Seafloor depth:-1688.095027 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1637.950556 meters looking forward 0.000000 meters along route # Maximum depth: 1637.950556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.950556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420368; longitude = -174.282888; captureRadius = 10; duration = 206; initialDepth = 1550.699356; finalDepth = 1587.950556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1587.950556 # Seafloor depth:-1637.950556 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1600.699356 meters looking forward 0.000000 meters along route # Maximum depth: 1600.699356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.699356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421091; longitude = -174.283462; captureRadius = 10; duration = 206; initialDepth = 1516.271162; finalDepth = 1550.699356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1550.699356 # Seafloor depth:-1600.699356 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1566.271162 meters looking forward 0.000000 meters along route # Maximum depth: 1566.271162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.271162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421814; longitude = -174.284037; captureRadius = 10; duration = 206; initialDepth = 1510.394579; finalDepth = 1516.271162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1516.271162 # Seafloor depth:-1566.271162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1560.394579 meters looking forward 0.000000 meters along route # Maximum depth: 1560.394579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.394579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422537; longitude = -174.284612; captureRadius = 10; duration = 206; initialDepth = 1519.510456; finalDepth = 1510.394579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1510.394579 # Seafloor depth:-1560.394579 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1569.510456 meters looking forward 0.000000 meters along route # Maximum depth: 1569.510456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.510456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423260; longitude = -174.285187; captureRadius = 10; duration = 206; initialDepth = 1553.858348; finalDepth = 1519.510456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1519.510456 # Seafloor depth:-1569.510456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1603.858348 meters looking forward 0.000000 meters along route # Maximum depth: 1603.858348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.858348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423983; longitude = -174.285762; captureRadius = 10; duration = 206; initialDepth = 1605.368760; finalDepth = 1553.858348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1553.858348 # Seafloor depth:-1603.858348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1667.918634 meters looking forward 0.000000 meters along route # Maximum depth: 1667.918634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.368760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424706; longitude = -174.286336; captureRadius = 10; duration = 206; initialDepth = 1630.126918; finalDepth = 1605.368760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5498738690903 # Actual altitude: 62.5498738690903 # Commanded vehicle depth:1605.36876013091 # Seafloor depth:-1667.918634 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 250.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 250.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.134519 meters # Minimum depth: 1680.126918 meters looking forward 0.000000 meters along route # Maximum depth: 1680.126918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.126918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425429; longitude = -174.286911; captureRadius = 10; duration = 206; initialDepth = 1633.318458; finalDepth = 1630.126918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5498738690903 # Actual altitude: 62.5498738690903 # Commanded vehicle depth:1630.126918 # Seafloor depth:-1680.126918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 250.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 250.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.134519 meters # Minimum depth: 1683.318458 meters looking forward 0.000000 meters along route # Maximum depth: 1683.318458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.318458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426152; longitude = -174.287486; captureRadius = 10; duration = 206; initialDepth = 1648.431384; finalDepth = 1633.318458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1633.318458 # Seafloor depth:-1683.318458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1698.431384 meters looking forward 0.000000 meters along route # Maximum depth: 1698.431384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.431384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426875; longitude = -174.288061; captureRadius = 10; duration = 206; initialDepth = 1667.632156; finalDepth = 1648.431384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1648.431384 # Seafloor depth:-1698.431384 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1717.632156 meters looking forward 0.000000 meters along route # Maximum depth: 1717.632156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.632156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.427598; longitude = -174.288635; captureRadius = 10; duration = 206; initialDepth = 1698.423967; finalDepth = 1667.632156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1667.632156 # Seafloor depth:-1717.632156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1748.423967 meters looking forward 0.000000 meters along route # Maximum depth: 1748.423967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.423967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428321; longitude = -174.289210; captureRadius = 10; duration = 206; initialDepth = 1732.184671; finalDepth = 1698.423967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1698.423967 # Seafloor depth:-1748.423967 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1782.184671 meters looking forward 0.000000 meters along route # Maximum depth: 1782.184671 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.184671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429044; longitude = -174.289785; captureRadius = 10; duration = 206; initialDepth = 1748.819660; finalDepth = 1732.184671; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1732.184671 # Seafloor depth:-1782.184671 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1798.819660 meters looking forward 0.000000 meters along route # Maximum depth: 1798.819660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.819660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429767; longitude = -174.290360; captureRadius = 10; duration = 206; initialDepth = 1740.045205; finalDepth = 1748.819660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1748.81966 # Seafloor depth:-1798.819660 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1790.045205 meters looking forward 0.000000 meters along route # Maximum depth: 1790.045205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.045205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.430500; longitude = -174.290943; captureRadius = 10; duration = 206; initialDepth = 1792.960056; finalDepth = 1740.045205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1740.045205 # Seafloor depth:-1790.045205 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 103.134519 meters # Minimum depth: 1847.770142 meters looking forward 0.000000 meters along route # Maximum depth: 1847.770142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.960056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.431243; longitude = -174.291533; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1781.749207; finalDepth = 1792.960056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 54.8100862718798 # Actual altitude: 54.8100862718798 # Commanded vehicle depth:1792.96005572812 # Seafloor depth:-1847.770142 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 219.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 219.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 103.134519 meters # Minimum depth: 1831.749207 meters looking forward 0.000000 meters along route # Maximum depth: 1831.749207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.749207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.432057; longitude = -174.290415; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1771.492300; finalDepth = 1781.749207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8100862718798 # Actual altitude: 54.8100862718798 # Commanded vehicle depth:1781.749207 # Seafloor depth:-1831.749207 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 219.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.89; MB_Bottom_Detect_Filter_Max_Range = 219.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 103.134519 meters # Minimum depth: 1821.492300 meters looking forward 0.000000 meters along route # Maximum depth: 1821.492300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.492300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.431394; longitude = -174.289898; captureRadius = 10; duration = 206; initialDepth = 1762.732083; finalDepth = 1771.492300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.4923 # Seafloor depth:-1821.492300 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1812.732083 meters looking forward 0.000000 meters along route # Maximum depth: 1812.732083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.732083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.430671; longitude = -174.289335; captureRadius = 10; duration = 206; initialDepth = 1767.523638; finalDepth = 1762.732083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.732083 # Seafloor depth:-1812.732083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1817.523638 meters looking forward 0.000000 meters along route # Maximum depth: 1817.523638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.523638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429948; longitude = -174.288772; captureRadius = 10; duration = 206; initialDepth = 1746.006271; finalDepth = 1767.523638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1767.523638 # Seafloor depth:-1817.523638 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1796.006271 meters looking forward 0.000000 meters along route # Maximum depth: 1796.006271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.006271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.429225; longitude = -174.288209; captureRadius = 10; duration = 206; initialDepth = 1721.763222; finalDepth = 1746.006271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1746.006271 # Seafloor depth:-1796.006271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1771.763222 meters looking forward 0.000000 meters along route # Maximum depth: 1771.763222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.763222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.428502; longitude = -174.287646; captureRadius = 10; duration = 206; initialDepth = 1709.918380; finalDepth = 1721.763222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1721.763222 # Seafloor depth:-1771.763222 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1759.918380 meters looking forward 0.000000 meters along route # Maximum depth: 1759.918380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.918380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.427779; longitude = -174.287082; captureRadius = 10; duration = 206; initialDepth = 1719.037852; finalDepth = 1709.918380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1709.91838 # Seafloor depth:-1759.918380 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1769.037852 meters looking forward 0.000000 meters along route # Maximum depth: 1769.037852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.037852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.427056; longitude = -174.286519; captureRadius = 10; duration = 206; initialDepth = 1715.968732; finalDepth = 1719.037852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1719.037852 # Seafloor depth:-1769.037852 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1765.968732 meters looking forward 0.000000 meters along route # Maximum depth: 1765.968732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.968732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.426333; longitude = -174.285956; captureRadius = 10; duration = 206; initialDepth = 1671.990758; finalDepth = 1715.968732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1715.968732 # Seafloor depth:-1765.968732 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1721.990758 meters looking forward 0.000000 meters along route # Maximum depth: 1721.990758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.990758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.425610; longitude = -174.285393; captureRadius = 10; duration = 206; initialDepth = 1630.218355; finalDepth = 1671.990758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1671.990758 # Seafloor depth:-1721.990758 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1680.218355 meters looking forward 0.000000 meters along route # Maximum depth: 1680.218355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.218355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424887; longitude = -174.284830; captureRadius = 10; duration = 206; initialDepth = 1573.441703; finalDepth = 1630.218355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1630.218355 # Seafloor depth:-1680.218355 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1623.441703 meters looking forward 0.000000 meters along route # Maximum depth: 1623.441703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.441703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.424164; longitude = -174.284266; captureRadius = 10; duration = 206; initialDepth = 1520.762654; finalDepth = 1573.441703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1573.441703 # Seafloor depth:-1623.441703 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1570.762654 meters looking forward 0.000000 meters along route # Maximum depth: 1570.762654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.762654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.423440; longitude = -174.283703; captureRadius = 10; duration = 206; initialDepth = 1508.028067; finalDepth = 1520.762654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1520.762654 # Seafloor depth:-1570.762654 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1558.028067 meters looking forward 0.000000 meters along route # Maximum depth: 1558.028067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.028067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.422717; longitude = -174.283140; captureRadius = 10; duration = 206; initialDepth = 1549.010818; finalDepth = 1508.028067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1508.028067 # Seafloor depth:-1558.028067 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1599.010818 meters looking forward 0.000000 meters along route # Maximum depth: 1599.010818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.010818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421994; longitude = -174.282577; captureRadius = 10; duration = 206; initialDepth = 1594.537083; finalDepth = 1549.010818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1549.010818 # Seafloor depth:-1599.010818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1644.537083 meters looking forward 0.000000 meters along route # Maximum depth: 1644.537083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.537083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.421271; longitude = -174.282014; captureRadius = 10; duration = 206; initialDepth = 1605.100418; finalDepth = 1594.537083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1594.537083 # Seafloor depth:-1644.537083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1655.100418 meters looking forward 0.000000 meters along route # Maximum depth: 1655.100418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.100418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.420548; longitude = -174.281451; captureRadius = 10; duration = 206; initialDepth = 1653.569644; finalDepth = 1605.100418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1605.100418 # Seafloor depth:-1655.100418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1703.569644 meters looking forward 0.000000 meters along route # Maximum depth: 1703.569644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.569644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419825; longitude = -174.280887; captureRadius = 10; duration = 206; initialDepth = 1686.551373; finalDepth = 1653.569644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1653.569644 # Seafloor depth:-1703.569644 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1736.551373 meters looking forward 0.000000 meters along route # Maximum depth: 1736.551373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.551373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.419102; longitude = -174.280324; captureRadius = 10; duration = 206; initialDepth = 1737.701044; finalDepth = 1686.551373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1686.551373 # Seafloor depth:-1736.551373 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1792.068335 meters looking forward 0.000000 meters along route # Maximum depth: 1792.068335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1737.701044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.418379; longitude = -174.279761; captureRadius = 10; duration = 206; initialDepth = 1754.686271; finalDepth = 1737.701044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3672913325365 # Actual altitude: 54.3672913325365 # Commanded vehicle depth:1737.70104366746 # Seafloor depth:-1792.068335 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 217.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.62; MB_Bottom_Detect_Filter_Max_Range = 217.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 103.134519 meters # Minimum depth: 1804.686271 meters looking forward 0.000000 meters along route # Maximum depth: 1804.686271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.686271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.417656; longitude = -174.279198; captureRadius = 10; duration = 206; initialDepth = 1774.968262; finalDepth = 1754.686271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3672913325365 # Actual altitude: 54.3672913325365 # Commanded vehicle depth:1754.686271 # Seafloor depth:-1804.686271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 217.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.62; MB_Bottom_Detect_Filter_Max_Range = 217.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 103.134519 meters # Minimum depth: 1824.968262 meters looking forward 0.000000 meters along route # Maximum depth: 1824.968262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.968262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416903; longitude = -174.278611; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1757.282335; finalDepth = 1774.968262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1774.968262 # Seafloor depth:-1824.968262 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1807.282335 meters looking forward 0.000000 meters along route # Maximum depth: 1807.282335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.282335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.416196; longitude = -174.277804; captureRadius = 10; duration = 206; initialDepth = 1770.668633; finalDepth = 1757.282335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.282335 # Seafloor depth:-1807.282335 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1820.668633 meters looking forward 0.000000 meters along route # Maximum depth: 1820.668633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.668633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415578; longitude = -174.277097; captureRadius = 10; duration = 206; initialDepth = 1760.360997; finalDepth = 1770.668633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1770.668633 # Seafloor depth:-1820.668633 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1810.360997 meters looking forward 0.000000 meters along route # Maximum depth: 1810.360997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.360997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414945; longitude = -174.276374; captureRadius = 10; duration = 206; initialDepth = 1754.073794; finalDepth = 1760.360997; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1760.360997 # Seafloor depth:-1810.360997 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1804.073794 meters looking forward 0.000000 meters along route # Maximum depth: 1804.073794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.073794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414312; longitude = -174.275652; captureRadius = 10; duration = 206; initialDepth = 1758.370828; finalDepth = 1754.073794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1754.073794 # Seafloor depth:-1804.073794 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1808.370828 meters looking forward 0.000000 meters along route # Maximum depth: 1808.370828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1758.370828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413667; longitude = -174.274915; captureRadius = 10; duration = 206; initialDepth = 1779.862495; finalDepth = 1758.370828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1758.370828 # Seafloor depth:-1808.370828 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1829.862495 meters looking forward 0.000000 meters along route # Maximum depth: 1829.862495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.862495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413047; longitude = -174.274206; captureRadius = 10; duration = 206; initialDepth = 1775.898385; finalDepth = 1779.862495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.862495 # Seafloor depth:-1829.862495 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1825.898385 meters looking forward 0.000000 meters along route # Maximum depth: 1825.898385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.898385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412414; longitude = -174.273484; captureRadius = 10; duration = 206; initialDepth = 1777.558747; finalDepth = 1775.898385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.898385 # Seafloor depth:-1825.898385 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1827.558747 meters looking forward 0.000000 meters along route # Maximum depth: 1827.558747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.558747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411782; longitude = -174.272761; captureRadius = 10; duration = 206; initialDepth = 1768.192015; finalDepth = 1777.558747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1777.558747 # Seafloor depth:-1827.558747 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1818.192015 meters looking forward 0.000000 meters along route # Maximum depth: 1818.192015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.192015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411139; longitude = -174.272027; captureRadius = 10; duration = 206; initialDepth = 1770.560274; finalDepth = 1768.192015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1768.192015 # Seafloor depth:-1818.192015 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1820.560274 meters looking forward 0.000000 meters along route # Maximum depth: 1820.560274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.560274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410516; longitude = -174.271316; captureRadius = 10; duration = 206; initialDepth = 1756.689120; finalDepth = 1770.560274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1770.560274 # Seafloor depth:-1820.560274 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1806.689120 meters looking forward 0.000000 meters along route # Maximum depth: 1806.689120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.689120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409884; longitude = -174.270593; captureRadius = 10; duration = 206; initialDepth = 1764.777040; finalDepth = 1756.689120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.68912 # Seafloor depth:-1806.689120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1814.777040 meters looking forward 0.000000 meters along route # Maximum depth: 1814.777040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1764.777040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409251; longitude = -174.269870; captureRadius = 10; duration = 206; initialDepth = 1756.835735; finalDepth = 1764.777040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1764.77704 # Seafloor depth:-1814.777040 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1806.835735 meters looking forward 0.000000 meters along route # Maximum depth: 1806.835735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.835735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408610; longitude = -174.269138; captureRadius = 10; duration = 206; initialDepth = 1756.291357; finalDepth = 1756.835735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.835735 # Seafloor depth:-1806.835735 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1806.291357 meters looking forward 0.000000 meters along route # Maximum depth: 1806.291357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.291357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407986; longitude = -174.268425; captureRadius = 10; duration = 206; initialDepth = 1768.855538; finalDepth = 1756.291357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.291357 # Seafloor depth:-1806.291357 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1818.855538 meters looking forward 0.000000 meters along route # Maximum depth: 1818.855538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.855538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407353; longitude = -174.267702; captureRadius = 10; duration = 206; initialDepth = 1759.694342; finalDepth = 1768.855538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1768.855538 # Seafloor depth:-1818.855538 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1809.694342 meters looking forward 0.000000 meters along route # Maximum depth: 1809.694342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1759.694342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406720; longitude = -174.266980; captureRadius = 10; duration = 206; initialDepth = 1770.625416; finalDepth = 1759.694342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1759.694342 # Seafloor depth:-1809.694342 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1820.625416 meters looking forward 0.000000 meters along route # Maximum depth: 1820.625416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.625416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406081; longitude = -174.266249; captureRadius = 10; duration = 206; initialDepth = 1778.382920; finalDepth = 1770.625416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1770.625416 # Seafloor depth:-1820.625416 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1828.382920 meters looking forward 0.000000 meters along route # Maximum depth: 1828.382920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.382920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405428; longitude = -174.265504; captureRadius = 10; duration = 206; initialDepth = 1784.112154; finalDepth = 1778.382920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1778.38292 # Seafloor depth:-1828.382920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1834.112154 meters looking forward 0.000000 meters along route # Maximum depth: 1834.112154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.112154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404822; longitude = -174.264812; captureRadius = 10; duration = 206; initialDepth = 1782.867690; finalDepth = 1784.112154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1784.112154 # Seafloor depth:-1834.112154 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1832.867690 meters looking forward 0.000000 meters along route # Maximum depth: 1832.867690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.867690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404190; longitude = -174.264089; captureRadius = 10; duration = 206; initialDepth = 1782.038366; finalDepth = 1782.867690; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.86769 # Seafloor depth:-1832.867690 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1832.038366 meters looking forward 0.000000 meters along route # Maximum depth: 1832.038366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.038366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403552; longitude = -174.263361; captureRadius = 10; duration = 206; initialDepth = 1774.179392; finalDepth = 1782.038366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.038366 # Seafloor depth:-1832.038366 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1824.179392 meters looking forward 0.000000 meters along route # Maximum depth: 1824.179392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1774.179392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402899; longitude = -174.262615; captureRadius = 10; duration = 206; initialDepth = 1773.711599; finalDepth = 1774.179392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1774.179392 # Seafloor depth:-1824.179392 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1823.711599 meters looking forward 0.000000 meters along route # Maximum depth: 1823.711599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.711599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402292; longitude = -174.261921; captureRadius = 10; duration = 206; initialDepth = 1752.928016; finalDepth = 1773.711599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1773.711599 # Seafloor depth:-1823.711599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1802.928016 meters looking forward 0.000000 meters along route # Maximum depth: 1802.928016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.928016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401659; longitude = -174.261199; captureRadius = 10; duration = 206; initialDepth = 1744.191132; finalDepth = 1752.928016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1752.928016 # Seafloor depth:-1802.928016 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 103.134519 meters # Minimum depth: 1794.191132 meters looking forward 0.000000 meters along route # Maximum depth: 1794.191132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.191132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400996; longitude = -174.260441; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1734.834401; finalDepth = 1744.191132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1744.191132 # Seafloor depth:-1794.191132 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1784.834401 meters looking forward 0.000000 meters along route # Maximum depth: 1784.834401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.834401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400454; longitude = -174.260938; captureRadius = 10; duration = 206; initialDepth = 1701.768574; finalDepth = 1734.834401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1734.834401 # Seafloor depth:-1784.834401 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1751.768574 meters looking forward 0.000000 meters along route # Maximum depth: 1751.768574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.768574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399742; longitude = -174.261590; captureRadius = 10; duration = 206; initialDepth = 1707.586865; finalDepth = 1701.768574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1701.768574 # Seafloor depth:-1751.768574 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1757.586865 meters looking forward 0.000000 meters along route # Maximum depth: 1757.586865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.586865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399030; longitude = -174.262242; captureRadius = 10; duration = 206; initialDepth = 1721.923669; finalDepth = 1707.586865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1707.586865 # Seafloor depth:-1757.586865 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1771.923669 meters looking forward 0.000000 meters along route # Maximum depth: 1771.923669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.923669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398315; longitude = -174.262898; captureRadius = 10; duration = 206; initialDepth = 1711.199409; finalDepth = 1721.923669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1721.923669 # Seafloor depth:-1771.923669 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1761.199409 meters looking forward 0.000000 meters along route # Maximum depth: 1761.199409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.199409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397607; longitude = -174.263547; captureRadius = 10; duration = 206; initialDepth = 1762.358843; finalDepth = 1711.199409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.199409 # Seafloor depth:-1761.199409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1812.876221 meters looking forward 0.000000 meters along route # Maximum depth: 1812.876221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.358843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396929; longitude = -174.264168; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1763.546845; finalDepth = 1762.358843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5173778060671 # Actual altitude: 50.5173778060671 # Commanded vehicle depth:1762.35884319393 # Seafloor depth:-1812.876221 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 202.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 103.134519 meters # Minimum depth: 1813.546845 meters looking forward 0.000000 meters along route # Maximum depth: 1813.546845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.546845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397616; longitude = -174.264945; captureRadius = 10; duration = 206; initialDepth = 1765.373144; finalDepth = 1763.546845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5173778060671 # Actual altitude: 50.5173778060671 # Commanded vehicle depth:1763.546845 # Seafloor depth:-1813.546845 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 202.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 202.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 103.134519 meters # Minimum depth: 1815.373144 meters looking forward 0.000000 meters along route # Maximum depth: 1815.373144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.373144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398225; longitude = -174.265633; captureRadius = 10; duration = 206; initialDepth = 1770.057523; finalDepth = 1765.373144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1765.373144 # Seafloor depth:-1815.373144 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1820.057523 meters looking forward 0.000000 meters along route # Maximum depth: 1820.057523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.057523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398857; longitude = -174.266348; captureRadius = 10; duration = 206; initialDepth = 1773.534324; finalDepth = 1770.057523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1770.057523 # Seafloor depth:-1820.057523 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1823.534324 meters looking forward 0.000000 meters along route # Maximum depth: 1823.534324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1773.534324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399512; longitude = -174.267088; captureRadius = 10; duration = 206; initialDepth = 1800.674214; finalDepth = 1773.534324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1773.534324 # Seafloor depth:-1823.534324 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1850.674214 meters looking forward 0.000000 meters along route # Maximum depth: 1850.674214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.674214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400123; longitude = -174.267779; captureRadius = 10; duration = 206; initialDepth = 1812.540025; finalDepth = 1800.674214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1800.674214 # Seafloor depth:-1850.674214 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1862.540025 meters looking forward 0.000000 meters along route # Maximum depth: 1862.540025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1812.540025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400755; longitude = -174.268494; captureRadius = 10; duration = 206; initialDepth = 1817.439792; finalDepth = 1812.540025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1812.540025 # Seafloor depth:-1862.540025 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1867.439792 meters looking forward 0.000000 meters along route # Maximum depth: 1867.439792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1817.439792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401407; longitude = -174.269231; captureRadius = 10; duration = 206; initialDepth = 1842.001033; finalDepth = 1817.439792; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1817.439792 # Seafloor depth:-1867.439792 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1892.001033 meters looking forward 0.000000 meters along route # Maximum depth: 1892.001033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.001033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402021; longitude = -174.269925; captureRadius = 10; duration = 206; initialDepth = 1851.729573; finalDepth = 1842.001033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.001033 # Seafloor depth:-1892.001033 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1901.729573 meters looking forward 0.000000 meters along route # Maximum depth: 1901.729573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1851.729573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402653; longitude = -174.270640; captureRadius = 10; duration = 206; initialDepth = 1874.009419; finalDepth = 1851.729573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1851.729573 # Seafloor depth:-1901.729573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1924.009419 meters looking forward 0.000000 meters along route # Maximum depth: 1924.009419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1874.009419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403303; longitude = -174.271374; captureRadius = 10; duration = 206; initialDepth = 1891.896577; finalDepth = 1874.009419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1874.009419 # Seafloor depth:-1924.009419 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1941.896577 meters looking forward 0.000000 meters along route # Maximum depth: 1941.896577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.896577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403919; longitude = -174.272070; captureRadius = 10; duration = 206; initialDepth = 1924.015328; finalDepth = 1891.896577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1891.896577 # Seafloor depth:-1941.896577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1974.015328 meters looking forward 0.000000 meters along route # Maximum depth: 1974.015328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1924.015328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404551; longitude = -174.272786; captureRadius = 10; duration = 206; initialDepth = 1912.830922; finalDepth = 1924.015328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1924.015328 # Seafloor depth:-1974.015328 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1962.830922 meters looking forward 0.000000 meters along route # Maximum depth: 1962.830922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1912.830922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405199; longitude = -174.273517; captureRadius = 10; duration = 206; initialDepth = 1877.143679; finalDepth = 1912.830922; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1912.830922 # Seafloor depth:-1962.830922 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1927.143679 meters looking forward 0.000000 meters along route # Maximum depth: 1927.143679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.143679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405817; longitude = -174.274216; captureRadius = 10; duration = 206; initialDepth = 1864.741808; finalDepth = 1877.143679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1877.143679 # Seafloor depth:-1927.143679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1914.741808 meters looking forward 0.000000 meters along route # Maximum depth: 1914.741808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1864.741808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406449; longitude = -174.274931; captureRadius = 10; duration = 206; initialDepth = 1861.601066; finalDepth = 1864.741808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1864.741808 # Seafloor depth:-1914.741808 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1911.601066 meters looking forward 0.000000 meters along route # Maximum depth: 1911.601066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.601066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407094; longitude = -174.275661; captureRadius = 10; duration = 206; initialDepth = 1846.797819; finalDepth = 1861.601066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1861.601066 # Seafloor depth:-1911.601066 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1896.797819 meters looking forward 0.000000 meters along route # Maximum depth: 1896.797819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.797819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407715; longitude = -174.276362; captureRadius = 10; duration = 206; initialDepth = 1849.169512; finalDepth = 1846.797819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1846.797819 # Seafloor depth:-1896.797819 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1899.169512 meters looking forward 0.000000 meters along route # Maximum depth: 1899.169512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.169512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408347; longitude = -174.277077; captureRadius = 10; duration = 206; initialDepth = 1834.712306; finalDepth = 1849.169512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1849.169512 # Seafloor depth:-1899.169512 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1884.712306 meters looking forward 0.000000 meters along route # Maximum depth: 1884.712306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.712306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408990; longitude = -174.277804; captureRadius = 10; duration = 206; initialDepth = 1838.732299; finalDepth = 1834.712306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1834.712306 # Seafloor depth:-1884.712306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1888.732299 meters looking forward 0.000000 meters along route # Maximum depth: 1888.732299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.732299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409613; longitude = -174.278508; captureRadius = 10; duration = 206; initialDepth = 1825.832434; finalDepth = 1838.732299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1838.732299 # Seafloor depth:-1888.732299 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1875.832434 meters looking forward 0.000000 meters along route # Maximum depth: 1875.832434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.832434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410245; longitude = -174.279223; captureRadius = 10; duration = 206; initialDepth = 1825.805772; finalDepth = 1825.832434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.832434 # Seafloor depth:-1875.832434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1875.805772 meters looking forward 0.000000 meters along route # Maximum depth: 1875.805772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1825.805772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410886; longitude = -174.279947; captureRadius = 10; duration = 206; initialDepth = 1834.503073; finalDepth = 1825.805772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1825.805772 # Seafloor depth:-1875.805772 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1884.503073 meters looking forward 0.000000 meters along route # Maximum depth: 1884.503073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.503073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411545; longitude = -174.280692; captureRadius = 10; duration = 206; initialDepth = 1841.208284; finalDepth = 1834.503073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1834.503073 # Seafloor depth:-1884.503073 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1891.208284 meters looking forward 0.000000 meters along route # Maximum depth: 1891.208284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1841.208284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412204; longitude = -174.281438; captureRadius = 10; duration = 206; initialDepth = 1842.806763; finalDepth = 1841.208284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1841.208284 # Seafloor depth:-1891.208284 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 103.134519 meters # Minimum depth: 1892.806763 meters looking forward 0.000000 meters along route # Maximum depth: 1892.806763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.806763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412836; longitude = -174.282152; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1840.915894; finalDepth = 1842.806763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.806763 # Seafloor depth:-1892.806763 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1890.915894 meters looking forward 0.000000 meters along route # Maximum depth: 1890.915894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.915894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413830; longitude = -174.281314; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1840.452727; finalDepth = 1840.915894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1840.915894 # Seafloor depth:-1890.915894 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1890.452727 meters looking forward 0.000000 meters along route # Maximum depth: 1890.452727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1840.452727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413126; longitude = -174.280506; captureRadius = 10; duration = 206; initialDepth = 1838.193009; finalDepth = 1840.452727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1840.452727 # Seafloor depth:-1890.452727 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1888.193009 meters looking forward 0.000000 meters along route # Maximum depth: 1888.193009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.193009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412476; longitude = -174.279761; captureRadius = 10; duration = 206; initialDepth = 1843.068487; finalDepth = 1838.193009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1838.193009 # Seafloor depth:-1888.193009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1893.068487 meters looking forward 0.000000 meters along route # Maximum depth: 1893.068487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1843.068487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411872; longitude = -174.279068; captureRadius = 10; duration = 206; initialDepth = 1842.818963; finalDepth = 1843.068487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1843.068487 # Seafloor depth:-1893.068487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1892.818963 meters looking forward 0.000000 meters along route # Maximum depth: 1892.818963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.818963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411239; longitude = -174.278343; captureRadius = 10; duration = 206; initialDepth = 1829.343002; finalDepth = 1842.818963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1842.818963 # Seafloor depth:-1892.818963 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1879.343002 meters looking forward 0.000000 meters along route # Maximum depth: 1879.343002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.343002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410607; longitude = -174.277617; captureRadius = 10; duration = 206; initialDepth = 1827.515683; finalDepth = 1829.343002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.343002 # Seafloor depth:-1879.343002 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1877.515683 meters looking forward 0.000000 meters along route # Maximum depth: 1877.515683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1827.515683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409957; longitude = -174.276872; captureRadius = 10; duration = 206; initialDepth = 1826.612156; finalDepth = 1827.515683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1827.515683 # Seafloor depth:-1877.515683 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1876.612156 meters looking forward 0.000000 meters along route # Maximum depth: 1876.612156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.612156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409341; longitude = -174.276166; captureRadius = 10; duration = 206; initialDepth = 1819.424673; finalDepth = 1826.612156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.612156 # Seafloor depth:-1876.612156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1869.424673 meters looking forward 0.000000 meters along route # Maximum depth: 1869.424673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1819.424673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408709; longitude = -174.275440; captureRadius = 10; duration = 206; initialDepth = 1820.564157; finalDepth = 1819.424673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1819.424673 # Seafloor depth:-1869.424673 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1870.564157 meters looking forward 0.000000 meters along route # Maximum depth: 1870.564157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1820.564157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408076; longitude = -174.274714; captureRadius = 10; duration = 206; initialDepth = 1821.942880; finalDepth = 1820.564157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1820.564157 # Seafloor depth:-1870.564157 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1871.942880 meters looking forward 0.000000 meters along route # Maximum depth: 1871.942880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1821.942880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407439; longitude = -174.273983; captureRadius = 10; duration = 206; initialDepth = 1813.924494; finalDepth = 1821.942880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1821.94288 # Seafloor depth:-1871.942880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1863.924494 meters looking forward 0.000000 meters along route # Maximum depth: 1863.924494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1813.924494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406789; longitude = -174.273238; captureRadius = 10; duration = 206; initialDepth = 1799.730442; finalDepth = 1813.924494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1813.924494 # Seafloor depth:-1863.924494 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1849.730442 meters looking forward 0.000000 meters along route # Maximum depth: 1849.730442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.730442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406178; longitude = -174.272537; captureRadius = 10; duration = 206; initialDepth = 1814.490480; finalDepth = 1799.730442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1799.730442 # Seafloor depth:-1849.730442 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1864.490480 meters looking forward 0.000000 meters along route # Maximum depth: 1864.490480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.490480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405545; longitude = -174.271812; captureRadius = 10; duration = 206; initialDepth = 1785.276480; finalDepth = 1814.490480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1814.49048 # Seafloor depth:-1864.490480 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1835.276480 meters looking forward 0.000000 meters along route # Maximum depth: 1835.276480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.276480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404913; longitude = -174.271086; captureRadius = 10; duration = 206; initialDepth = 1795.558742; finalDepth = 1785.276480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1785.27648 # Seafloor depth:-1835.276480 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1845.558742 meters looking forward 0.000000 meters along route # Maximum depth: 1845.558742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.558742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404270; longitude = -174.270349; captureRadius = 10; duration = 206; initialDepth = 1782.457815; finalDepth = 1795.558742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.558742 # Seafloor depth:-1845.558742 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1832.457815 meters looking forward 0.000000 meters along route # Maximum depth: 1832.457815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.457815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403620; longitude = -174.269604; captureRadius = 10; duration = 206; initialDepth = 1783.550250; finalDepth = 1782.457815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.457815 # Seafloor depth:-1832.457815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1833.550250 meters looking forward 0.000000 meters along route # Maximum depth: 1833.550250 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.550250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403015; longitude = -174.268909; captureRadius = 10; duration = 206; initialDepth = 1782.916453; finalDepth = 1783.550250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1783.55025 # Seafloor depth:-1833.550250 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1832.916453 meters looking forward 0.000000 meters along route # Maximum depth: 1832.916453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.916453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402382; longitude = -174.268184; captureRadius = 10; duration = 206; initialDepth = 1778.616517; finalDepth = 1782.916453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.916453 # Seafloor depth:-1832.916453 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1828.616517 meters looking forward 0.000000 meters along route # Maximum depth: 1828.616517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.616517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401750; longitude = -174.267458; captureRadius = 10; duration = 206; initialDepth = 1775.449074; finalDepth = 1778.616517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1778.616517 # Seafloor depth:-1828.616517 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1825.449074 meters looking forward 0.000000 meters along route # Maximum depth: 1825.449074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.449074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401102; longitude = -174.266715; captureRadius = 10; duration = 206; initialDepth = 1771.057437; finalDepth = 1775.449074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.449074 # Seafloor depth:-1825.449074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1821.057437 meters looking forward 0.000000 meters along route # Maximum depth: 1821.057437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.057437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400484; longitude = -174.266007; captureRadius = 10; duration = 206; initialDepth = 1762.762757; finalDepth = 1771.057437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.057437 # Seafloor depth:-1821.057437 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1812.762757 meters looking forward 0.000000 meters along route # Maximum depth: 1812.762757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.762757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399852; longitude = -174.265281; captureRadius = 10; duration = 206; initialDepth = 1756.794234; finalDepth = 1762.762757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1762.762757 # Seafloor depth:-1812.762757 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.134519 meters # Minimum depth: 1806.794234 meters looking forward 0.000000 meters along route # Maximum depth: 1806.794234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.794234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399219; longitude = -174.264555; captureRadius = 10; duration = 206; initialDepth = 1741.488220; finalDepth = 1756.794234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.794234 # Seafloor depth:-1806.794234 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 103.134519 meters # Minimum depth: 1791.488220 meters looking forward 0.000000 meters along route # Maximum depth: 1791.488220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.488220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398556; longitude = -174.263795; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1718.163757; finalDepth = 1741.488220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1741.48822 # Seafloor depth:-1791.488220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1768.163757 meters looking forward 0.000000 meters along route # Maximum depth: 1768.163757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.163757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399460; longitude = -174.262864; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1739.375134; finalDepth = 1718.163757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1718.163757 # Seafloor depth:-1768.163757 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1789.375134 meters looking forward 0.000000 meters along route # Maximum depth: 1789.375134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1739.375134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400309; longitude = -174.263827; captureRadius = 10; duration = 206; initialDepth = 1742.501238; finalDepth = 1739.375134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1739.375134 # Seafloor depth:-1789.375134 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1792.501238 meters looking forward 0.000000 meters along route # Maximum depth: 1792.501238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.501238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400936; longitude = -174.264537; captureRadius = 10; duration = 206; initialDepth = 1760.286541; finalDepth = 1742.501238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1742.501238 # Seafloor depth:-1792.501238 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1810.286541 meters looking forward 0.000000 meters along route # Maximum depth: 1810.286541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.286541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401569; longitude = -174.265255; captureRadius = 10; duration = 206; initialDepth = 1760.383052; finalDepth = 1760.286541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1760.286541 # Seafloor depth:-1810.286541 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1810.383052 meters looking forward 0.000000 meters along route # Maximum depth: 1810.383052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.383052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402201; longitude = -174.265972; captureRadius = 10; duration = 206; initialDepth = 1755.122586; finalDepth = 1760.383052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1760.383052 # Seafloor depth:-1810.383052 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1805.122586 meters looking forward 0.000000 meters along route # Maximum depth: 1805.122586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.122586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402857; longitude = -174.266715; captureRadius = 10; duration = 206; initialDepth = 1766.913553; finalDepth = 1755.122586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1755.122586 # Seafloor depth:-1805.122586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1816.913553 meters looking forward 0.000000 meters along route # Maximum depth: 1816.913553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.913553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403467; longitude = -174.267406; captureRadius = 10; duration = 206; initialDepth = 1777.456317; finalDepth = 1766.913553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1766.913553 # Seafloor depth:-1816.913553 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1827.456317 meters looking forward 0.000000 meters along route # Maximum depth: 1827.456317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.456317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404099; longitude = -174.268124; captureRadius = 10; duration = 206; initialDepth = 1777.396943; finalDepth = 1777.456317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1777.456317 # Seafloor depth:-1827.456317 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1827.396943 meters looking forward 0.000000 meters along route # Maximum depth: 1827.396943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.396943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404748; longitude = -174.268858; captureRadius = 10; duration = 206; initialDepth = 1778.341366; finalDepth = 1777.396943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1777.396943 # Seafloor depth:-1827.396943 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1828.341366 meters looking forward 0.000000 meters along route # Maximum depth: 1828.341366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.341366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405365; longitude = -174.269558; captureRadius = 10; duration = 206; initialDepth = 1775.023122; finalDepth = 1778.341366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1778.341366 # Seafloor depth:-1828.341366 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1825.023122 meters looking forward 0.000000 meters along route # Maximum depth: 1825.023122 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1775.023122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405997; longitude = -174.270275; captureRadius = 10; duration = 206; initialDepth = 1789.762653; finalDepth = 1775.023122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1775.023122 # Seafloor depth:-1825.023122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1839.762653 meters looking forward 0.000000 meters along route # Maximum depth: 1839.762653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.762653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406638; longitude = -174.271002; captureRadius = 10; duration = 206; initialDepth = 1787.068715; finalDepth = 1789.762653; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1789.762653 # Seafloor depth:-1839.762653 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1837.068715 meters looking forward 0.000000 meters along route # Maximum depth: 1837.068715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.068715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407263; longitude = -174.271710; captureRadius = 10; duration = 206; initialDepth = 1798.548428; finalDepth = 1787.068715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1787.068715 # Seafloor depth:-1837.068715 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1848.548428 meters looking forward 0.000000 meters along route # Maximum depth: 1848.548428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.548428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407895; longitude = -174.272427; captureRadius = 10; duration = 206; initialDepth = 1815.410889; finalDepth = 1798.548428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.548428 # Seafloor depth:-1848.548428 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1865.410889 meters looking forward 0.000000 meters along route # Maximum depth: 1865.410889 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.410889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408528; longitude = -174.273145; captureRadius = 10; duration = 206; initialDepth = 1816.690449; finalDepth = 1815.410889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1815.410889 # Seafloor depth:-1865.410889 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1866.690449 meters looking forward 0.000000 meters along route # Maximum depth: 1866.690449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.690449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409161; longitude = -174.273861; captureRadius = 10; duration = 206; initialDepth = 1818.258308; finalDepth = 1816.690449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1816.690449 # Seafloor depth:-1866.690449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1868.258308 meters looking forward 0.000000 meters along route # Maximum depth: 1868.258308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.258308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409793; longitude = -174.274579; captureRadius = 10; duration = 206; initialDepth = 1829.086572; finalDepth = 1818.258308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.258308 # Seafloor depth:-1868.258308 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1879.086572 meters looking forward 0.000000 meters along route # Maximum depth: 1879.086572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.086572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410426; longitude = -174.275296; captureRadius = 10; duration = 206; initialDepth = 1824.334422; finalDepth = 1829.086572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1829.086572 # Seafloor depth:-1879.086572 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1874.334422 meters looking forward 0.000000 meters along route # Maximum depth: 1874.334422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.334422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411077; longitude = -174.276033; captureRadius = 10; duration = 206; initialDepth = 1824.614494; finalDepth = 1824.334422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.334422 # Seafloor depth:-1874.334422 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1874.614494 meters looking forward 0.000000 meters along route # Maximum depth: 1874.614494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.614494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411691; longitude = -174.276730; captureRadius = 10; duration = 206; initialDepth = 1831.017977; finalDepth = 1824.614494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.614494 # Seafloor depth:-1874.614494 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1881.017977 meters looking forward 0.000000 meters along route # Maximum depth: 1881.017977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.017977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412324; longitude = -174.277448; captureRadius = 10; duration = 206; initialDepth = 1824.401450; finalDepth = 1831.017977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1831.017977 # Seafloor depth:-1881.017977 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1874.401450 meters looking forward 0.000000 meters along route # Maximum depth: 1874.401450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.401450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412967; longitude = -174.278177; captureRadius = 10; duration = 206; initialDepth = 1818.867426; finalDepth = 1824.401450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.40145 # Seafloor depth:-1874.401450 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1868.867426 meters looking forward 0.000000 meters along route # Maximum depth: 1868.867426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.867426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413589; longitude = -174.278882; captureRadius = 10; duration = 206; initialDepth = 1818.802331; finalDepth = 1818.867426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.867426 # Seafloor depth:-1868.867426 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1868.802331 meters looking forward 0.000000 meters along route # Maximum depth: 1868.802331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1818.802331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414222; longitude = -174.279599; captureRadius = 10; duration = 206; initialDepth = 1824.464142; finalDepth = 1818.802331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1818.802331 # Seafloor depth:-1868.802331 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 103.134519 meters # Minimum depth: 1874.464142 meters looking forward 0.000000 meters along route # Maximum depth: 1874.464142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.464142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414885; longitude = -174.280351; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1798.574463; finalDepth = 1824.464142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1824.464142 # Seafloor depth:-1874.464142 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1848.574463 meters looking forward 0.000000 meters along route # Maximum depth: 1848.574463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.574463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.415909; longitude = -174.279543; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1794.401039; finalDepth = 1798.574463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1798.574463 # Seafloor depth:-1848.574463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1844.401039 meters looking forward 0.000000 meters along route # Maximum depth: 1844.401039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.401039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414855; longitude = -174.278337; captureRadius = 10; duration = 206; initialDepth = 1795.569760; finalDepth = 1794.401039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1794.401039 # Seafloor depth:-1844.401039 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1845.569760 meters looking forward 0.000000 meters along route # Maximum depth: 1845.569760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.569760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.414222; longitude = -174.277614; captureRadius = 10; duration = 206; initialDepth = 1800.419791; finalDepth = 1795.569760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.56976 # Seafloor depth:-1845.569760 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1850.419791 meters looking forward 0.000000 meters along route # Maximum depth: 1850.419791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.419791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.413573; longitude = -174.276872; captureRadius = 10; duration = 206; initialDepth = 1808.078007; finalDepth = 1800.419791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1800.419791 # Seafloor depth:-1850.419791 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1858.078007 meters looking forward 0.000000 meters along route # Maximum depth: 1858.078007 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.078007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412957; longitude = -174.276168; captureRadius = 10; duration = 206; initialDepth = 1816.389700; finalDepth = 1808.078007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1808.078007 # Seafloor depth:-1858.078007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1866.389700 meters looking forward 0.000000 meters along route # Maximum depth: 1866.389700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.389700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.412324; longitude = -174.275444; captureRadius = 10; duration = 206; initialDepth = 1814.890142; finalDepth = 1816.389700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1816.3897 # Seafloor depth:-1866.389700 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1864.890142 meters looking forward 0.000000 meters along route # Maximum depth: 1864.890142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1814.890142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411691; longitude = -174.274721; captureRadius = 10; duration = 206; initialDepth = 1816.645754; finalDepth = 1814.890142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1814.890142 # Seafloor depth:-1864.890142 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1866.645754 meters looking forward 0.000000 meters along route # Maximum depth: 1866.645754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1816.645754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.411046; longitude = -174.273983; captureRadius = 10; duration = 206; initialDepth = 1804.229469; finalDepth = 1816.645754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1816.645754 # Seafloor depth:-1866.645754 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1854.229469 meters looking forward 0.000000 meters along route # Maximum depth: 1854.229469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.229469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.410426; longitude = -174.273275; captureRadius = 10; duration = 206; initialDepth = 1795.842121; finalDepth = 1804.229469; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1804.229469 # Seafloor depth:-1854.229469 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1845.842121 meters looking forward 0.000000 meters along route # Maximum depth: 1845.842121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.842121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409793; longitude = -174.272551; captureRadius = 10; duration = 206; initialDepth = 1788.712431; finalDepth = 1795.842121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.842121 # Seafloor depth:-1845.842121 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1838.712431 meters looking forward 0.000000 meters along route # Maximum depth: 1838.712431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.712431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.409161; longitude = -174.271828; captureRadius = 10; duration = 206; initialDepth = 1781.479783; finalDepth = 1788.712431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1788.712431 # Seafloor depth:-1838.712431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1831.479783 meters looking forward 0.000000 meters along route # Maximum depth: 1831.479783 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.479783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.408519; longitude = -174.271095; captureRadius = 10; duration = 206; initialDepth = 1776.159053; finalDepth = 1781.479783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1781.479783 # Seafloor depth:-1831.479783 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1826.159053 meters looking forward 0.000000 meters along route # Maximum depth: 1826.159053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.159053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407895; longitude = -174.270382; captureRadius = 10; duration = 206; initialDepth = 1756.350518; finalDepth = 1776.159053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1776.159053 # Seafloor depth:-1826.159053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1806.350518 meters looking forward 0.000000 meters along route # Maximum depth: 1806.350518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.350518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.407263; longitude = -174.269658; captureRadius = 10; duration = 206; initialDepth = 1754.685975; finalDepth = 1756.350518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.350518 # Seafloor depth:-1806.350518 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1804.685975 meters looking forward 0.000000 meters along route # Maximum depth: 1804.685975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.685975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.406630; longitude = -174.268935; captureRadius = 10; duration = 206; initialDepth = 1756.214371; finalDepth = 1754.685975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1754.685975 # Seafloor depth:-1804.685975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1806.214371 meters looking forward 0.000000 meters along route # Maximum depth: 1806.214371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.214371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405992; longitude = -174.268206; captureRadius = 10; duration = 206; initialDepth = 1767.117640; finalDepth = 1756.214371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.214371 # Seafloor depth:-1806.214371 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1817.117640 meters looking forward 0.000000 meters along route # Maximum depth: 1817.117640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.117640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.405340; longitude = -174.267461; captureRadius = 10; duration = 206; initialDepth = 1772.031551; finalDepth = 1767.117640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1767.11764 # Seafloor depth:-1817.117640 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1822.031551 meters looking forward 0.000000 meters along route # Maximum depth: 1822.031551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1772.031551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404732; longitude = -174.266765; captureRadius = 10; duration = 206; initialDepth = 1768.978156; finalDepth = 1772.031551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1772.031551 # Seafloor depth:-1822.031551 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1818.978156 meters looking forward 0.000000 meters along route # Maximum depth: 1818.978156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.978156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.404099; longitude = -174.266042; captureRadius = 10; duration = 206; initialDepth = 1765.850461; finalDepth = 1768.978156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1768.978156 # Seafloor depth:-1818.978156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1815.850461 meters looking forward 0.000000 meters along route # Maximum depth: 1815.850461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.850461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.403465; longitude = -174.265317; captureRadius = 10; duration = 206; initialDepth = 1766.119204; finalDepth = 1765.850461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1765.850461 # Seafloor depth:-1815.850461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1816.119204 meters looking forward 0.000000 meters along route # Maximum depth: 1816.119204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.119204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402813; longitude = -174.264572; captureRadius = 10; duration = 206; initialDepth = 1754.801485; finalDepth = 1766.119204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1766.119204 # Seafloor depth:-1816.119204 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1804.801485 meters looking forward 0.000000 meters along route # Maximum depth: 1804.801485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.801485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.402201; longitude = -174.263872; captureRadius = 10; duration = 206; initialDepth = 1740.042883; finalDepth = 1754.801485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1754.801485 # Seafloor depth:-1804.801485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1790.042883 meters looking forward 0.000000 meters along route # Maximum depth: 1790.042883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1740.042883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.401591; longitude = -174.263174; captureRadius = 10; duration = 206; initialDepth = 1729.594208; finalDepth = 1740.042883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1740.042883 # Seafloor depth:-1790.042883 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1779.594208 meters looking forward 0.000000 meters along route # Maximum depth: 1779.594208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.594208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400966; longitude = -174.262460; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1707.197338; finalDepth = 1729.594208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1729.594208 # Seafloor depth:-1779.594208 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1757.197338 meters looking forward 0.000000 meters along route # Maximum depth: 1757.197338 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.197338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400017; longitude = -174.261311; captureRadius = 10; duration = 206; initialDepth = 1684.535279; finalDepth = 1707.197338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1707.197338 # Seafloor depth:-1757.197338 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1734.535279 meters looking forward 0.000000 meters along route # Maximum depth: 1734.535279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.535279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399400; longitude = -174.260563; captureRadius = 10; duration = 206; initialDepth = 1674.887968; finalDepth = 1684.535279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1684.535279 # Seafloor depth:-1734.535279 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1724.887968 meters looking forward 0.000000 meters along route # Maximum depth: 1724.887968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.887968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398767; longitude = -174.259797; captureRadius = 10; duration = 206; initialDepth = 1654.645405; finalDepth = 1674.887968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1674.887968 # Seafloor depth:-1724.887968 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1704.645405 meters looking forward 0.000000 meters along route # Maximum depth: 1704.645405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.645405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398170; longitude = -174.259074; captureRadius = 10; duration = 206; initialDepth = 1637.033068; finalDepth = 1654.645405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1654.645405 # Seafloor depth:-1704.645405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1687.033068 meters looking forward 0.000000 meters along route # Maximum depth: 1687.033068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.033068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397555; longitude = -174.258329; captureRadius = 10; duration = 206; initialDepth = 1622.412878; finalDepth = 1637.033068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1637.033068 # Seafloor depth:-1687.033068 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1672.412878 meters looking forward 0.000000 meters along route # Maximum depth: 1672.412878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.412878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396939; longitude = -174.257583; captureRadius = 10; duration = 206; initialDepth = 1624.182796; finalDepth = 1622.412878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1622.412878 # Seafloor depth:-1672.412878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1674.182796 meters looking forward 0.000000 meters along route # Maximum depth: 1674.182796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.182796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396324; longitude = -174.256838; captureRadius = 10; duration = 206; initialDepth = 1616.147614; finalDepth = 1624.182796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1624.182796 # Seafloor depth:-1674.182796 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1666.147614 meters looking forward 0.000000 meters along route # Maximum depth: 1666.147614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.147614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395694; longitude = -174.256075; captureRadius = 10; duration = 206; initialDepth = 1609.886466; finalDepth = 1616.147614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1616.147614 # Seafloor depth:-1666.147614 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1659.886466 meters looking forward 0.000000 meters along route # Maximum depth: 1659.886466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.886466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395093; longitude = -174.255347; captureRadius = 10; duration = 206; initialDepth = 1610.428916; finalDepth = 1609.886466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1609.886466 # Seafloor depth:-1659.886466 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1660.428916 meters looking forward 0.000000 meters along route # Maximum depth: 1660.428916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.428916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394477; longitude = -174.254601; captureRadius = 10; duration = 206; initialDepth = 1608.666558; finalDepth = 1610.428916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1610.428916 # Seafloor depth:-1660.428916 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1658.666558 meters looking forward 0.000000 meters along route # Maximum depth: 1658.666558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.666558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393862; longitude = -174.253856; captureRadius = 10; duration = 206; initialDepth = 1605.155539; finalDepth = 1608.666558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1608.666558 # Seafloor depth:-1658.666558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1655.155539 meters looking forward 0.000000 meters along route # Maximum depth: 1655.155539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.155539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393246; longitude = -174.253111; captureRadius = 10; duration = 206; initialDepth = 1605.573989; finalDepth = 1605.155539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1605.155539 # Seafloor depth:-1655.155539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1655.573989 meters looking forward 0.000000 meters along route # Maximum depth: 1655.573989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.573989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392621; longitude = -174.252354; captureRadius = 10; duration = 206; initialDepth = 1618.791994; finalDepth = 1605.573989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1605.573989 # Seafloor depth:-1655.573989 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1668.791994 meters looking forward 0.000000 meters along route # Maximum depth: 1668.791994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.791994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391989; longitude = -174.251587; captureRadius = 10; duration = 206; initialDepth = 1619.920498; finalDepth = 1618.791994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1618.791994 # Seafloor depth:-1668.791994 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1669.920498 meters looking forward 0.000000 meters along route # Maximum depth: 1669.920498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.920498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391400; longitude = -174.250874; captureRadius = 10; duration = 206; initialDepth = 1617.565236; finalDepth = 1619.920498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1619.920498 # Seafloor depth:-1669.920498 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1667.565236 meters looking forward 0.000000 meters along route # Maximum depth: 1667.565236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.565236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390784; longitude = -174.250129; captureRadius = 10; duration = 206; initialDepth = 1625.876582; finalDepth = 1617.565236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1617.565236 # Seafloor depth:-1667.565236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1675.876582 meters looking forward 0.000000 meters along route # Maximum depth: 1675.876582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.876582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390169; longitude = -174.249383; captureRadius = 10; duration = 206; initialDepth = 1617.663879; finalDepth = 1625.876582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1625.876582 # Seafloor depth:-1675.876582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 103.134519 meters # Minimum depth: 1667.663879 meters looking forward 0.000000 meters along route # Maximum depth: 1667.663879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.663879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389579; longitude = -174.248669; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1611.255432; finalDepth = 1617.663879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1617.663879 # Seafloor depth:-1667.663879 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1661.255432 meters looking forward 0.000000 meters along route # Maximum depth: 1661.255432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.255432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388584; longitude = -174.249601; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1637.966528; finalDepth = 1611.255432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1611.255432 # Seafloor depth:-1661.255432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1687.966528 meters looking forward 0.000000 meters along route # Maximum depth: 1687.966528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.966528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389551; longitude = -174.250781; captureRadius = 10; duration = 206; initialDepth = 1654.790737; finalDepth = 1637.966528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1637.966528 # Seafloor depth:-1687.966528 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1704.790737 meters looking forward 0.000000 meters along route # Maximum depth: 1704.790737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.790737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390181; longitude = -174.251550; captureRadius = 10; duration = 206; initialDepth = 1641.835963; finalDepth = 1654.790737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1654.790737 # Seafloor depth:-1704.790737 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1691.835963 meters looking forward 0.000000 meters along route # Maximum depth: 1691.835963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.835963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390773; longitude = -174.252272; captureRadius = 10; duration = 206; initialDepth = 1648.478287; finalDepth = 1641.835963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1641.835963 # Seafloor depth:-1691.835963 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1698.478287 meters looking forward 0.000000 meters along route # Maximum depth: 1698.478287 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.478287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391384; longitude = -174.253017; captureRadius = 10; duration = 206; initialDepth = 1660.024999; finalDepth = 1648.478287; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1648.478287 # Seafloor depth:-1698.478287 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1710.024999 meters looking forward 0.000000 meters along route # Maximum depth: 1710.024999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.024999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391995; longitude = -174.253763; captureRadius = 10; duration = 206; initialDepth = 1667.199346; finalDepth = 1660.024999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1660.024999 # Seafloor depth:-1710.024999 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1717.199346 meters looking forward 0.000000 meters along route # Maximum depth: 1717.199346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.199346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392621; longitude = -174.254527; captureRadius = 10; duration = 206; initialDepth = 1660.133230; finalDepth = 1667.199346; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1667.199346 # Seafloor depth:-1717.199346 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1710.133230 meters looking forward 0.000000 meters along route # Maximum depth: 1710.133230 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.133230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393217; longitude = -174.255254; captureRadius = 10; duration = 206; initialDepth = 1675.459448; finalDepth = 1660.133230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1660.13323 # Seafloor depth:-1710.133230 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1725.459448 meters looking forward 0.000000 meters along route # Maximum depth: 1725.459448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.459448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393828; longitude = -174.255999; captureRadius = 10; duration = 206; initialDepth = 1663.692259; finalDepth = 1675.459448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1675.459448 # Seafloor depth:-1725.459448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1713.692259 meters looking forward 0.000000 meters along route # Maximum depth: 1713.692259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.692259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394439; longitude = -174.256745; captureRadius = 10; duration = 206; initialDepth = 1663.580714; finalDepth = 1663.692259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1663.692259 # Seafloor depth:-1713.692259 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1713.580714 meters looking forward 0.000000 meters along route # Maximum depth: 1713.580714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.580714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395062; longitude = -174.257505; captureRadius = 10; duration = 206; initialDepth = 1658.410596; finalDepth = 1663.580714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1663.580714 # Seafloor depth:-1713.580714 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1708.410596 meters looking forward 0.000000 meters along route # Maximum depth: 1708.410596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.410596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395661; longitude = -174.258236; captureRadius = 10; duration = 206; initialDepth = 1669.812723; finalDepth = 1658.410596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1658.410596 # Seafloor depth:-1708.410596 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1719.812723 meters looking forward 0.000000 meters along route # Maximum depth: 1719.812723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.812723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396272; longitude = -174.258981; captureRadius = 10; duration = 206; initialDepth = 1664.928194; finalDepth = 1669.812723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1669.812723 # Seafloor depth:-1719.812723 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1714.928194 meters looking forward 0.000000 meters along route # Maximum depth: 1714.928194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.928194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396882; longitude = -174.259726; captureRadius = 10; duration = 206; initialDepth = 1660.290863; finalDepth = 1664.928194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1664.928194 # Seafloor depth:-1714.928194 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1710.290863 meters looking forward 0.000000 meters along route # Maximum depth: 1710.290863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.290863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397502; longitude = -174.260482; captureRadius = 10; duration = 206; initialDepth = 1669.719496; finalDepth = 1660.290863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1660.290863 # Seafloor depth:-1710.290863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1719.719496 meters looking forward 0.000000 meters along route # Maximum depth: 1719.719496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.719496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398104; longitude = -174.261217; captureRadius = 10; duration = 206; initialDepth = 1702.377271; finalDepth = 1669.719496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1669.719496 # Seafloor depth:-1719.719496 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1752.377271 meters looking forward 0.000000 meters along route # Maximum depth: 1752.377271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.377271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398715; longitude = -174.261963; captureRadius = 10; duration = 206; initialDepth = 1720.041798; finalDepth = 1702.377271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1702.377271 # Seafloor depth:-1752.377271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1770.041798 meters looking forward 0.000000 meters along route # Maximum depth: 1770.041798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.041798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399326; longitude = -174.262708; captureRadius = 10; duration = 206; initialDepth = 1730.691162; finalDepth = 1720.041798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1720.041798 # Seafloor depth:-1770.041798 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 103.134519 meters # Minimum depth: 1780.691162 meters looking forward 0.000000 meters along route # Maximum depth: 1780.691162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.691162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399912; longitude = -174.263423; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1755.198120; finalDepth = 1730.691162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1730.691162 # Seafloor depth:-1780.691162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1805.198120 meters looking forward 0.000000 meters along route # Maximum depth: 1805.198120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.198120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399008; longitude = -174.264355; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1718.529408; finalDepth = 1755.198120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1755.19812 # Seafloor depth:-1805.198120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1768.529408 meters looking forward 0.000000 meters along route # Maximum depth: 1768.529408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.529408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398103; longitude = -174.263267; captureRadius = 10; duration = 206; initialDepth = 1707.382958; finalDepth = 1718.529408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1718.529408 # Seafloor depth:-1768.529408 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1757.382958 meters looking forward 0.000000 meters along route # Maximum depth: 1757.382958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.382958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397484; longitude = -174.262522; captureRadius = 10; duration = 206; initialDepth = 1713.580717; finalDepth = 1707.382958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1707.382958 # Seafloor depth:-1757.382958 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1763.580717 meters looking forward 0.000000 meters along route # Maximum depth: 1763.580717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.580717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396864; longitude = -174.261776; captureRadius = 10; duration = 206; initialDepth = 1715.216935; finalDepth = 1713.580717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1713.580717 # Seafloor depth:-1763.580717 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1765.216935 meters looking forward 0.000000 meters along route # Maximum depth: 1765.216935 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.216935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396236; longitude = -174.261023; captureRadius = 10; duration = 206; initialDepth = 1724.158121; finalDepth = 1715.216935; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1715.216935 # Seafloor depth:-1765.216935 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1774.158121 meters looking forward 0.000000 meters along route # Maximum depth: 1774.158121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.158121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395604; longitude = -174.260262; captureRadius = 10; duration = 206; initialDepth = 1711.341280; finalDepth = 1724.158121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1724.158121 # Seafloor depth:-1774.158121 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1761.341280 meters looking forward 0.000000 meters along route # Maximum depth: 1761.341280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.341280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395004; longitude = -174.259540; captureRadius = 10; duration = 206; initialDepth = 1714.644226; finalDepth = 1711.341280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1711.34128 # Seafloor depth:-1761.341280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1764.644226 meters looking forward 0.000000 meters along route # Maximum depth: 1764.644226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.644226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394384; longitude = -174.258795; captureRadius = 10; duration = 206; initialDepth = 1734.487788; finalDepth = 1714.644226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1714.644226 # Seafloor depth:-1764.644226 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1784.487788 meters looking forward 0.000000 meters along route # Maximum depth: 1784.487788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.487788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393764; longitude = -174.258049; captureRadius = 10; duration = 206; initialDepth = 1757.377971; finalDepth = 1734.487788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1734.487788 # Seafloor depth:-1784.487788 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1807.377971 meters looking forward 0.000000 meters along route # Maximum depth: 1807.377971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.377971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393144; longitude = -174.257304; captureRadius = 10; duration = 206; initialDepth = 1771.263058; finalDepth = 1757.377971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.377971 # Seafloor depth:-1807.377971 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1821.263058 meters looking forward 0.000000 meters along route # Maximum depth: 1821.263058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.263058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392524; longitude = -174.256558; captureRadius = 10; duration = 206; initialDepth = 1760.995064; finalDepth = 1771.263058; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.263058 # Seafloor depth:-1821.263058 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1810.995064 meters looking forward 0.000000 meters along route # Maximum depth: 1810.995064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.995064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391898; longitude = -174.255806; captureRadius = 10; duration = 206; initialDepth = 1752.036401; finalDepth = 1760.995064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1760.995064 # Seafloor depth:-1810.995064 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1802.036401 meters looking forward 0.000000 meters along route # Maximum depth: 1802.036401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.036401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391266; longitude = -174.255046; captureRadius = 10; duration = 206; initialDepth = 1748.748842; finalDepth = 1752.036401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1752.036401 # Seafloor depth:-1802.036401 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1798.748842 meters looking forward 0.000000 meters along route # Maximum depth: 1798.748842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.748842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390633; longitude = -174.254285; captureRadius = 10; duration = 206; initialDepth = 1741.483610; finalDepth = 1748.748842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1748.748842 # Seafloor depth:-1798.748842 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1791.483610 meters looking forward 0.000000 meters along route # Maximum depth: 1791.483610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.483610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390044; longitude = -174.253576; captureRadius = 10; duration = 206; initialDepth = 1731.597988; finalDepth = 1741.483610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1741.48361 # Seafloor depth:-1791.483610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1781.597988 meters looking forward 0.000000 meters along route # Maximum depth: 1781.597988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.597988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389424; longitude = -174.252831; captureRadius = 10; duration = 206; initialDepth = 1743.154982; finalDepth = 1731.597988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1731.597988 # Seafloor depth:-1781.597988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1793.154982 meters looking forward 0.000000 meters along route # Maximum depth: 1793.154982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1743.154982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388804; longitude = -174.252086; captureRadius = 10; duration = 206; initialDepth = 1735.388650; finalDepth = 1743.154982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1743.154982 # Seafloor depth:-1793.154982 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1785.388650 meters looking forward 0.000000 meters along route # Maximum depth: 1785.388650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.388650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388184; longitude = -174.251340; captureRadius = 10; duration = 206; initialDepth = 1722.657349; finalDepth = 1735.388650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1735.38865 # Seafloor depth:-1785.388650 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 103.134519 meters # Minimum depth: 1772.657349 meters looking forward 0.000000 meters along route # Maximum depth: 1772.657349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.657349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387590; longitude = -174.250626; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1794.794306; finalDepth = 1722.657349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1722.657349 # Seafloor depth:-1772.657349 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 103.134519 meters # Minimum depth: 1848.879333 meters looking forward 0.000000 meters along route # Maximum depth: 1848.879333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.794306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.386686; longitude = -174.251558; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1776.732535; finalDepth = 1794.794306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0850267232324 # Actual altitude: 54.0850267232324 # Commanded vehicle depth:1794.79430627677 # Seafloor depth:-1848.879333 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 216.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 216.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.134519 meters # Minimum depth: 1826.732535 meters looking forward 0.000000 meters along route # Maximum depth: 1826.732535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.732535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.387576; longitude = -174.252645; captureRadius = 10; duration = 206; initialDepth = 1778.451724; finalDepth = 1776.732535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0850267232324 # Actual altitude: 54.0850267232324 # Commanded vehicle depth:1776.732535 # Seafloor depth:-1826.732535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 216.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.45; MB_Bottom_Detect_Filter_Max_Range = 216.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 103.134519 meters # Minimum depth: 1828.451724 meters looking forward 0.000000 meters along route # Maximum depth: 1828.451724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.451724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388193; longitude = -174.253399; captureRadius = 10; duration = 206; initialDepth = 1785.107907; finalDepth = 1778.451724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1778.451724 # Seafloor depth:-1828.451724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1835.107907 meters looking forward 0.000000 meters along route # Maximum depth: 1835.107907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.107907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.388796; longitude = -174.254136; captureRadius = 10; duration = 206; initialDepth = 1782.186682; finalDepth = 1785.107907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1785.107907 # Seafloor depth:-1835.107907 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1832.186682 meters looking forward 0.000000 meters along route # Maximum depth: 1832.186682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.186682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.389406; longitude = -174.254881; captureRadius = 10; duration = 206; initialDepth = 1795.044675; finalDepth = 1782.186682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1782.186682 # Seafloor depth:-1832.186682 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1845.044675 meters looking forward 0.000000 meters along route # Maximum depth: 1845.044675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.044675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390017; longitude = -174.255626; captureRadius = 10; duration = 206; initialDepth = 1822.491034; finalDepth = 1795.044675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1795.044675 # Seafloor depth:-1845.044675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1872.491034 meters looking forward 0.000000 meters along route # Maximum depth: 1872.491034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.491034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.390633; longitude = -174.256380; captureRadius = 10; duration = 206; initialDepth = 1833.898162; finalDepth = 1822.491034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1822.491034 # Seafloor depth:-1872.491034 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1883.898162 meters looking forward 0.000000 meters along route # Maximum depth: 1883.898162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.898162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391237; longitude = -174.257117; captureRadius = 10; duration = 206; initialDepth = 1847.060594; finalDepth = 1833.898162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1833.898162 # Seafloor depth:-1883.898162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1897.060594 meters looking forward 0.000000 meters along route # Maximum depth: 1897.060594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.060594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.391847; longitude = -174.257863; captureRadius = 10; duration = 206; initialDepth = 1826.352249; finalDepth = 1847.060594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1847.060594 # Seafloor depth:-1897.060594 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1876.352249 meters looking forward 0.000000 meters along route # Maximum depth: 1876.352249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1826.352249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.392458; longitude = -174.258608; captureRadius = 10; duration = 206; initialDepth = 1809.000743; finalDepth = 1826.352249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1826.352249 # Seafloor depth:-1876.352249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1859.000743 meters looking forward 0.000000 meters along route # Maximum depth: 1859.000743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1809.000743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393073; longitude = -174.259360; captureRadius = 10; duration = 206; initialDepth = 1789.514008; finalDepth = 1809.000743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1809.000743 # Seafloor depth:-1859.000743 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1839.514008 meters looking forward 0.000000 meters along route # Maximum depth: 1839.514008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.514008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.393678; longitude = -174.260099; captureRadius = 10; duration = 206; initialDepth = 1779.251863; finalDepth = 1789.514008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1789.514008 # Seafloor depth:-1839.514008 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1829.251863 meters looking forward 0.000000 meters along route # Maximum depth: 1829.251863 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.251863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394288; longitude = -174.260845; captureRadius = 10; duration = 206; initialDepth = 1785.228637; finalDepth = 1779.251863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1779.251863 # Seafloor depth:-1829.251863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1835.228637 meters looking forward 0.000000 meters along route # Maximum depth: 1835.228637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.228637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.394898; longitude = -174.261590; captureRadius = 10; duration = 206; initialDepth = 1771.622595; finalDepth = 1785.228637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1785.228637 # Seafloor depth:-1835.228637 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1821.622595 meters looking forward 0.000000 meters along route # Maximum depth: 1821.622595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.622595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.395513; longitude = -174.262341; captureRadius = 10; duration = 206; initialDepth = 1757.056192; finalDepth = 1771.622595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1771.622595 # Seafloor depth:-1821.622595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1807.056192 meters looking forward 0.000000 meters along route # Maximum depth: 1807.056192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1757.056192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396146; longitude = -174.263114; captureRadius = 10; duration = 206; initialDepth = 1751.799170; finalDepth = 1757.056192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1757.056192 # Seafloor depth:-1807.056192 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1801.799170 meters looking forward 0.000000 meters along route # Maximum depth: 1801.799170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.799170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.396729; longitude = -174.263827; captureRadius = 10; duration = 206; initialDepth = 1769.503850; finalDepth = 1751.799170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1751.79917 # Seafloor depth:-1801.799170 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1819.503850 meters looking forward 0.000000 meters along route # Maximum depth: 1819.503850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1769.503850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397339; longitude = -174.264572; captureRadius = 10; duration = 206; initialDepth = 1752.503479; finalDepth = 1769.503850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1769.50385 # Seafloor depth:-1819.503850 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 103.134519 meters # Minimum depth: 1802.503479 meters looking forward 0.000000 meters along route # Maximum depth: 1802.503479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1752.503479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.397924; longitude = -174.265286; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 1761.881752; finalDepth = 1752.503479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1752.503479 # Seafloor depth:-1802.503479 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1811.881752 meters looking forward 0.000000 meters along route # Maximum depth: 1811.881752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1761.881752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.398677; longitude = -174.264991; captureRadius = 10; duration = 206; initialDepth = 1756.612645; finalDepth = 1761.881752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1761.881752 # Seafloor depth:-1811.881752 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1806.612645 meters looking forward 0.000000 meters along route # Maximum depth: 1806.612645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1756.612645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.399580; longitude = -174.264636; captureRadius = 10; duration = 206; initialDepth = 1744.572666; finalDepth = 1756.612645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1756.612645 # Seafloor depth:-1806.612645 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.134519 meters # Minimum depth: 1794.572666 meters looking forward 0.000000 meters along route # Maximum depth: 1794.572666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2107.473633 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1744.572666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = -15.400457; longitude = -174.264292; captureRadius = 10; duration = 206; initialDepth = 1746.851044; finalDepth = 1744.572666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1744.572666 # Seafloor depth:-1794.572666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth:1746.851044 # Seafloor depth:-1796.851044 # behavior reson { duration = RESON_DURATION; 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 103.134519 meters # Minimum depth: 1796.851044 meters looking forward 0.000000 meters along route # Maximum depth: 1796.851044 meters looking forward 0.000000 meters along route # Vehicle depth: 1746.851044 meters behavior waypoint { latitude = -15.401328; longitude = -174.263951; captureRadius = 10; duration = 1200; depth = 1746.851044; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1746.851044 meters set by local depth and desired altitude behavior descend { duration = 5170; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 103.134519 meters # Minimum depth: 1796.851044 meters looking forward 0.000000 meters along route # Maximum depth: 1796.851044 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = -15.401328; longitude = -174.263951; captureRadius = 10; duration = 1000; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 350.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 350.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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; } # 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