# 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_Axial_1v4.rte # Mission File: MAUV_Axial_1v4.cfg # Distance: 39375.306852 (m) # Estimated Time: 29669 (s) 8.241 (hr) # Abort Time: 30888 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1902 (s) # Way Points: 45 # Route Points: 393 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 45 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 35 (m) # Maximum Vehicle Depth: 1700 (m) # Abort Vehicle Depth: 1750 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (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 -130.012573 45.971646 -1556.251953 0.000000 3 # 1 -130.023840 45.988802 -1580.471436 2096.599253 1 # 2 -130.028162 45.988802 -1575.842743 2431.355211 1 # 3 -130.031474 45.987888 -1575.489685 2707.257034 1 # 4 -130.033452 45.987363 -1577.718964 2871.194569 1 # 5 -130.034742 45.986373 -1576.999115 3019.804031 1 # 6 -130.035839 45.984393 -1577.867188 3255.651433 1 # 7 -130.036248 45.982264 -1577.266083 3494.328036 1 # 8 -130.036570 45.979519 -1579.972229 3800.357758 1 # 9 -130.037086 45.977585 -1578.144867 4018.940860 1 # 10 -130.037086 45.976190 -1577.336060 4173.946599 1 # 11 -130.037215 45.974885 -1576.774048 4319.295927 1 # 12 -130.036183 45.973221 -1576.999390 4520.738253 1 # 13 -130.035581 45.971526 -1576.853149 4714.767629 1 # 14 -130.034506 45.970026 -1580.908325 4901.092629 1 # 15 -130.033646 45.967567 -1581.649414 5182.332361 1 # 16 -130.032033 45.965542 -1578.945892 5439.721856 1 # 17 -130.031022 45.962963 -1569.564331 5736.802523 1 # 18 -130.027324 45.957084 -1566.775940 6450.140861 1 # 19 -130.025324 45.957579 -1572.610535 6614.606220 1 # 20 -130.036377 45.974750 -1578.484924 8705.967616 4 # 21 -130.035861 45.977855 -1578.262512 9053.288476 3 # 22 -130.023321 45.958297 -1569.433807 11433.795155 4 # 23 -130.021318 45.958922 -1567.607086 11603.846572 3 # 24 -130.035646 45.981244 -1577.231598 14321.258245 4 # 25 -130.034871 45.983808 -1579.545197 14612.414294 3 # 26 -130.019315 45.959546 -1563.582520 17565.436004 4 # 27 -130.017313 45.960170 -1551.793152 17735.368040 3 # 28 -130.033603 45.985593 -1578.879944 20829.359525 4 # 29 -130.031995 45.986815 -1578.052948 21013.615277 3 # 30 -130.015310 45.960795 -1555.257629 24180.646873 4 # 31 -130.013307 45.961419 -1549.727539 24350.646381 3 # 32 -130.029992 45.987440 -1576.406708 27517.772812 4 # 33 -130.027988 45.988064 -1576.853516 27687.775587 3 # 34 -130.011304 45.962043 -1547.000275 30854.863801 4 # 35 -130.009347 45.962648 -1545.164459 31020.745055 1 # 36 -130.014895 45.971286 -1563.137726 32072.424902 1 # 37 -130.012831 45.972006 -1558.921173 32251.234629 1 # 38 -130.007283 45.963233 -1545.729401 33316.619930 1 # 39 -130.005261 45.963877 -1548.466431 33488.869595 1 # 40 -130.010874 45.972831 -1575.067566 34574.692098 3 # 41 -130.009089 45.973670 -1557.765198 34741.473651 1 # 42 -130.003262 45.964462 -1546.860046 35859.802029 1 # 43 -130.029539 45.964087 -1578.948517 37896.381647 4 # 44 -130.018873 45.975125 -1586.663177 39375.306852 1 # # A total of 393 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 30888; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1590.000000; abortDepth = 1620.000000; minAltitude = 50.000000; abortAltitude = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1902; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 96.380153 meters # Minimum depth: 1585.672211 meters looking forward 100.000000 meters along route # Maximum depth: 1587.384524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.672211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975125; longitude = -130.018873; captureRadius = 10; duration = 96; # abortOnTimeout = True; initialDepth = 1540.672211; finalDepth = 1540.672211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9909659999998 # Actual altitude: 50 # Commanded vehicle depth:1540.672211 # Seafloor depth:-1586.663177 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 108.534110 meters # Minimum depth: 1585.813778 meters looking forward 100.000000 meters along route # Maximum depth: 1587.153413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.813778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974406; longitude = -130.019568; captureRadius = 10; duration = 108; initialDepth = 1540.813778; finalDepth = 1540.672211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9909659999998 # Actual altitude: 50 # Commanded vehicle depth:1540.813778 # Seafloor depth:-1585.813778 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 108.534606 meters # Minimum depth: 1583.740705 meters looking forward 100.000000 meters along route # Maximum depth: 1586.458452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.740705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973596; longitude = -130.020351; captureRadius = 10; duration = 108; initialDepth = 1538.740705; finalDepth = 1540.813778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7177470000001 # Actual altitude: 50 # Commanded vehicle depth:1538.740705 # Seafloor depth:-1586.458452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.525443 meters # Minimum depth: 1578.367501 meters looking forward 100.000000 meters along route # Maximum depth: 1583.200705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.367501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972786; longitude = -130.021134; captureRadius = 10; duration = 100; initialDepth = 1533.367501; finalDepth = 1538.740705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.833204 # Actual altitude: 50 # Commanded vehicle depth:1533.367501 # Seafloor depth:-1583.200705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 107.388312 meters # Minimum depth: 1576.490261 meters looking forward 100.000000 meters along route # Maximum depth: 1578.980165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.490261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972035; longitude = -130.021859; captureRadius = 10; duration = 107; initialDepth = 1531.490261; finalDepth = 1533.367501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.833204 # Actual altitude: 50 # Commanded vehicle depth:1531.490261 # Seafloor depth:-1578.194591 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 107.388798 meters # Minimum depth: 1568.857294 meters looking forward 100.000000 meters along route # Maximum depth: 1576.202879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.857294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971234; longitude = -130.022633; captureRadius = 10; duration = 107; initialDepth = 1523.857294; finalDepth = 1531.490261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.345585 # Actual altitude: 52.345585 # Commanded vehicle depth:1523.857294 # Seafloor depth:-1576.202879 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 107.389284 meters # Minimum depth: 1566.852379 meters looking forward 100.000000 meters along route # Maximum depth: 1573.710329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.852379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970432; longitude = -130.023408; captureRadius = 10; duration = 107; initialDepth = 1521.852379; finalDepth = 1523.857294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.345585 # Actual altitude: 52.345585 # Commanded vehicle depth:1521.852379 # Seafloor depth:-1568.784135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 107.928939 meters # Minimum depth: 1571.433058 meters looking forward 100.000000 meters along route # Maximum depth: 1573.910077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.433058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969631; longitude = -130.024182; captureRadius = 10; duration = 107; initialDepth = 1526.433058; finalDepth = 1521.852379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.282471 # Actual altitude: 50 # Commanded vehicle depth:1526.433058 # Seafloor depth:-1573.715529 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 108.537530 meters # Minimum depth: 1569.021090 meters looking forward 100.000000 meters along route # Maximum depth: 1573.323060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.021090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968825; longitude = -130.024961; captureRadius = 10; duration = 108; initialDepth = 1524.021090; finalDepth = 1526.433058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.373863 # Actual altitude: 50 # Commanded vehicle depth:1524.02109 # Seafloor depth:-1571.394953 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 108.538026 meters # Minimum depth: 1573.413814 meters looking forward 100.000000 meters along route # Maximum depth: 1578.798693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.413814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968015; longitude = -130.025743; captureRadius = 10; duration = 108; initialDepth = 1528.413814; finalDepth = 1524.021090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.373863 # Actual altitude: 50 # Commanded vehicle depth:1528.413814 # Seafloor depth:-1573.413814 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 108.538523 meters # Minimum depth: 1578.933054 meters looking forward 100.000000 meters along route # Maximum depth: 1582.863208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.933054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967205; longitude = -130.026526; captureRadius = 10; duration = 108; initialDepth = 1533.933054; finalDepth = 1528.413814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1533.933054 # Seafloor depth:-1578.933054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 103.410692 meters # Minimum depth: 1582.946378 meters looking forward 100.000000 meters along route # Maximum depth: 1585.673277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.946378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966395; longitude = -130.027309; captureRadius = 10; duration = 103; initialDepth = 1537.946378; finalDepth = 1533.933054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1537.946378 # Seafloor depth:-1582.946378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 101.607872 meters # Minimum depth: 1582.144045 meters looking forward 100.000000 meters along route # Maximum depth: 1584.296590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.144045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965623; longitude = -130.028055; captureRadius = 10; duration = 101; initialDepth = 1537.144045; finalDepth = 1537.946378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1525449999999 # Actual altitude: 50 # Commanded vehicle depth:1537.144045 # Seafloor depth:-1584.296590 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 104.222917 meters # Minimum depth: 1579.191035 meters looking forward 100.000000 meters along route # Maximum depth: 1581.893819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.191035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964865; longitude = -130.028787; captureRadius = 10; duration = 104; initialDepth = 1534.191035; finalDepth = 1537.144045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7027839999998 # Actual altitude: 50 # Commanded vehicle depth:1534.191035 # Seafloor depth:-1581.893819 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 35.013017 meters # Minimum depth: 1578.948517 meters looking forward 100.000000 meters along route # Maximum depth: 1581.163592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.948517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964087; longitude = -130.029539; captureRadius = 10; duration = 35; # abortOnTimeout = True; initialDepth = 1533.948517; finalDepth = 1534.191035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7027839999998 # Actual altitude: 50 # Commanded vehicle depth:1533.948517 # Seafloor depth:-1578.948517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044646 meters # Minimum depth: 1580.278417 meters looking forward 100.000000 meters along route # Maximum depth: 1583.212582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.278417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964093; longitude = -130.029087; captureRadius = 10; duration = 100; initialDepth = 1535.278417; finalDepth = 1533.948517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1535.278417 # Seafloor depth:-1580.278417 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044593 meters # Minimum depth: 1579.240471 meters looking forward 100.000000 meters along route # Maximum depth: 1582.726402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.240471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964112; longitude = -130.027796; captureRadius = 10; duration = 100; initialDepth = 1534.240471; finalDepth = 1535.278417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4859309999999 # Actual altitude: 50 # Commanded vehicle depth:1534.240471 # Seafloor depth:-1582.726402 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044540 meters # Minimum depth: 1577.076497 meters looking forward 100.000000 meters along route # Maximum depth: 1578.900047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.076497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964130; longitude = -130.026506; captureRadius = 10; duration = 100; initialDepth = 1532.076497; finalDepth = 1534.240471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4859309999999 # Actual altitude: 50 # Commanded vehicle depth:1532.076497 # Seafloor depth:-1578.815151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044488 meters # Minimum depth: 1570.356402 meters looking forward 100.000000 meters along route # Maximum depth: 1576.167825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.356402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964149; longitude = -130.025215; captureRadius = 10; duration = 100; initialDepth = 1525.356402; finalDepth = 1532.076497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8114230000001 # Actual altitude: 50.8114230000001 # Commanded vehicle depth:1525.356402 # Seafloor depth:-1576.167825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044435 meters # Minimum depth: 1568.600753 meters looking forward 100.000000 meters along route # Maximum depth: 1570.726543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.600753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964167; longitude = -130.023924; captureRadius = 10; duration = 100; initialDepth = 1523.600753; finalDepth = 1525.356402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8114230000001 # Actual altitude: 50.8114230000001 # Commanded vehicle depth:1523.600753 # Seafloor depth:-1570.493096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044382 meters # Minimum depth: 1567.284384 meters looking forward 100.000000 meters along route # Maximum depth: 1568.342373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.284384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964186; longitude = -130.022633; captureRadius = 10; duration = 100; initialDepth = 1522.284384; finalDepth = 1523.600753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.892343 # Actual altitude: 50 # Commanded vehicle depth:1522.284384 # Seafloor depth:-1568.342373 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044329 meters # Minimum depth: 1566.551550 meters looking forward 100.000000 meters along route # Maximum depth: 1567.562812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.551550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964204; longitude = -130.021342; captureRadius = 10; duration = 100; initialDepth = 1521.551550; finalDepth = 1522.284384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0579889999999 # Actual altitude: 50 # Commanded vehicle depth:1521.55155 # Seafloor depth:-1567.511863 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044277 meters # Minimum depth: 1556.972107 meters looking forward 100.000000 meters along route # Maximum depth: 1568.474971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.972107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964222; longitude = -130.020051; captureRadius = 10; duration = 100; initialDepth = 1511.972107; finalDepth = 1521.551550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9956029999998 # Actual altitude: 54.9956029999998 # Commanded vehicle depth:1511.972107 # Seafloor depth:-1566.967710 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044225 meters # Minimum depth: 1551.711246 meters looking forward 100.000000 meters along route # Maximum depth: 1554.951141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.711246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964241; longitude = -130.018761; captureRadius = 10; duration = 100; initialDepth = 1506.711246; finalDepth = 1511.972107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9956029999998 # Actual altitude: 54.9956029999998 # Commanded vehicle depth:1506.711246 # Seafloor depth:-1554.951141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044172 meters # Minimum depth: 1553.910001 meters looking forward 100.000000 meters along route # Maximum depth: 1559.172278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.910001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964259; longitude = -130.017470; captureRadius = 10; duration = 100; initialDepth = 1508.910001; finalDepth = 1506.711246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.2398949999999 # Actual altitude: 50 # Commanded vehicle depth:1508.910001 # Seafloor depth:-1553.910001 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044119 meters # Minimum depth: 1555.991117 meters looking forward 100.000000 meters along route # Maximum depth: 1558.366273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.991117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964278; longitude = -130.016179; captureRadius = 10; duration = 100; initialDepth = 1510.991117; finalDepth = 1508.910001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3751560000001 # Actual altitude: 50 # Commanded vehicle depth:1510.991117 # Seafloor depth:-1558.366273 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044067 meters # Minimum depth: 1556.314150 meters looking forward 100.000000 meters along route # Maximum depth: 1557.763763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.314150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964296; longitude = -130.014888; captureRadius = 10; duration = 100; initialDepth = 1511.314150; finalDepth = 1510.991117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3751560000001 # Actual altitude: 50 # Commanded vehicle depth:1511.31415 # Seafloor depth:-1556.314150 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.044014 meters # Minimum depth: 1551.751630 meters looking forward 100.000000 meters along route # Maximum depth: 1557.174541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.751630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964315; longitude = -130.013597; captureRadius = 10; duration = 100; initialDepth = 1506.751630; finalDepth = 1511.314150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4229110000001 # Actual altitude: 50.4229110000001 # Commanded vehicle depth:1506.75163 # Seafloor depth:-1557.174541 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.043962 meters # Minimum depth: 1549.482590 meters looking forward 100.000000 meters along route # Maximum depth: 1551.135951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.482590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964333; longitude = -130.012307; captureRadius = 10; duration = 100; initialDepth = 1504.482590; finalDepth = 1506.751630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4229110000001 # Actual altitude: 50.4229110000001 # Commanded vehicle depth:1504.48259 # Seafloor depth:-1551.135951 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.043909 meters # Minimum depth: 1549.513474 meters looking forward 100.000000 meters along route # Maximum depth: 1550.548418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.513474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964351; longitude = -130.011016; captureRadius = 10; duration = 100; initialDepth = 1504.513474; finalDepth = 1504.482590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6533609999999 # Actual altitude: 50 # Commanded vehicle depth:1504.513474 # Seafloor depth:-1550.198680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.043857 meters # Minimum depth: 1547.024504 meters looking forward 100.000000 meters along route # Maximum depth: 1550.206394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.024504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964370; longitude = -130.009725; captureRadius = 10; duration = 100; initialDepth = 1502.024504; finalDepth = 1504.513474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1818900000001 # Actual altitude: 50 # Commanded vehicle depth:1502.024504 # Seafloor depth:-1550.206394 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.043805 meters # Minimum depth: 1546.568628 meters looking forward 100.000000 meters along route # Maximum depth: 1547.063583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.568628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964388; longitude = -130.008434; captureRadius = 10; duration = 100; initialDepth = 1501.568628; finalDepth = 1502.024504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1818900000001 # Actual altitude: 50 # Commanded vehicle depth:1501.568628 # Seafloor depth:-1546.680661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.043752 meters # Minimum depth: 1547.074496 meters looking forward 100.000000 meters along route # Maximum depth: 1548.876269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.074496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964407; longitude = -130.007143; captureRadius = 10; duration = 100; initialDepth = 1502.074496; finalDepth = 1501.568628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1120330000001 # Actual altitude: 50 # Commanded vehicle depth:1502.074496 # Seafloor depth:-1547.074496 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.043700 meters # Minimum depth: 1549.280527 meters looking forward 100.000000 meters along route # Maximum depth: 1551.467915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.280527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964425; longitude = -130.005852; captureRadius = 10; duration = 100; initialDepth = 1504.280527; finalDepth = 1502.074496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1504.280527 # Seafloor depth:-1549.280527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.727329 meters # Minimum depth: 1547.276438 meters looking forward 100.000000 meters along route # Maximum depth: 1550.449421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.276438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964443; longitude = -130.004562; captureRadius = 10; duration = 100; initialDepth = 1502.276438; finalDepth = 1504.280527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1729829999999 # Actual altitude: 50 # Commanded vehicle depth:1502.276438 # Seafloor depth:-1550.449421 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 51.240948 meters # Minimum depth: 1546.860046 meters looking forward 100.000000 meters along route # Maximum depth: 1549.200140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.860046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964462; longitude = -130.003262; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 1501.860046; finalDepth = 1502.276438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1729829999999 # Actual altitude: 50 # Commanded vehicle depth:1501.860046 # Seafloor depth:-1546.860046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 107.003126 meters # Minimum depth: 1546.160934 meters looking forward 100.000000 meters along route # Maximum depth: 1547.617925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.160934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964884; longitude = -130.003529; captureRadius = 10; duration = 107; initialDepth = 1501.160934; finalDepth = 1501.860046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.456991 # Actual altitude: 50 # Commanded vehicle depth:1501.160934 # Seafloor depth:-1547.617925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.316588 meters # Minimum depth: 1546.113201 meters looking forward 100.000000 meters along route # Maximum depth: 1548.487419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.113201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965765; longitude = -130.004087; captureRadius = 10; duration = 109; initialDepth = 1501.113201; finalDepth = 1501.160934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.456991 # Actual altitude: 50 # Commanded vehicle depth:1501.113201 # Seafloor depth:-1546.113201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 105.740540 meters # Minimum depth: 1548.212340 meters looking forward 100.000000 meters along route # Maximum depth: 1550.293852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.212340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966665; longitude = -130.004656; captureRadius = 10; duration = 105; initialDepth = 1503.212340; finalDepth = 1501.113201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1327799999999 # Actual altitude: 50 # Commanded vehicle depth:1503.21234 # Seafloor depth:-1548.345120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 101.960246 meters # Minimum depth: 1549.905337 meters looking forward 100.000000 meters along route # Maximum depth: 1550.584294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.905337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967536; longitude = -130.005207; captureRadius = 10; duration = 101; initialDepth = 1504.905337; finalDepth = 1503.212340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4355400000002 # Actual altitude: 50 # Commanded vehicle depth:1504.905337 # Seafloor depth:-1550.340877 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.315818 meters # Minimum depth: 1549.285312 meters looking forward 100.000000 meters along route # Maximum depth: 1550.393321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.285312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968375; longitude = -130.005738; captureRadius = 10; duration = 109; initialDepth = 1504.285312; finalDepth = 1504.905337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.593181 # Actual altitude: 50 # Commanded vehicle depth:1504.285312 # Seafloor depth:-1549.878493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 110.781888 meters # Minimum depth: 1550.400118 meters looking forward 100.000000 meters along route # Maximum depth: 1552.505237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.400118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969275; longitude = -130.006308; captureRadius = 10; duration = 110; initialDepth = 1505.400118; finalDepth = 1504.285312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.593181 # Actual altitude: 50 # Commanded vehicle depth:1505.400118 # Seafloor depth:-1550.400118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 107.848954 meters # Minimum depth: 1552.611544 meters looking forward 100.000000 meters along route # Maximum depth: 1561.546272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.611544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970187; longitude = -130.006885; captureRadius = 10; duration = 107; initialDepth = 1507.611544; finalDepth = 1505.400118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1507.611544 # Seafloor depth:-1552.611544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 109.315023 meters # Minimum depth: 1559.852942 meters looking forward 100.000000 meters along route # Maximum depth: 1561.799417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.852942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971075; longitude = -130.007447; captureRadius = 10; duration = 109; initialDepth = 1514.852942; finalDepth = 1507.611544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.946475 # Actual altitude: 50 # Commanded vehicle depth:1514.852942 # Seafloor depth:-1561.799417 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.891674 meters # Minimum depth: 1554.025483 meters looking forward 100.000000 meters along route # Maximum depth: 1559.133331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.025483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971975; longitude = -130.008017; captureRadius = 10; duration = 104; initialDepth = 1509.025483; finalDepth = 1514.852942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1078480000001 # Actual altitude: 50.1078480000001 # Commanded vehicle depth:1509.025483 # Seafloor depth:-1559.133331 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.913573 meters # Minimum depth: 1552.669197 meters looking forward 100.000000 meters along route # Maximum depth: 1558.107492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.669197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972839; longitude = -130.008563; captureRadius = 10; duration = 100; initialDepth = 1507.669197; finalDepth = 1509.025483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1078480000001 # Actual altitude: 50.1078480000001 # Commanded vehicle depth:1507.669197 # Seafloor depth:-1553.730705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 59.417715 meters # Minimum depth: 1554.613207 meters looking forward 100.000000 meters along route # Maximum depth: 1558.107492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.613207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973670; longitude = -130.009089; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 1509.613207; finalDepth = 1507.669197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.151991 # Actual altitude: 50 # Commanded vehicle depth:1509.613207 # Seafloor depth:-1557.765198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 107.363838 meters # Minimum depth: 1558.552742 meters looking forward 100.000000 meters along route # Maximum depth: 1575.194881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.552742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973371; longitude = -130.009725; captureRadius = 10; duration = 107; initialDepth = 1513.552742; finalDepth = 1509.613207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.151991 # Actual altitude: 50 # Commanded vehicle depth:1513.552742 # Seafloor depth:-1558.552742 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 22.520053 meters # Minimum depth: 1566.762797 meters looking forward 100.000000 meters along route # Maximum depth: 1575.194881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.762797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972831; longitude = -130.010874; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 1521.762797; finalDepth = 1513.552742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3047689999999 # Actual altitude: 53.3047689999999 # Commanded vehicle depth:1521.762797 # Seafloor depth:-1575.067566 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.059378 meters # Minimum depth: 1565.341533 meters looking forward 100.000000 meters along route # Maximum depth: 1574.812848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.341533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972645; longitude = -130.010758; captureRadius = 10; duration = 103; initialDepth = 1520.341533; finalDepth = 1521.762797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.471315 # Actual altitude: 54.471315 # Commanded vehicle depth:1520.341533 # Seafloor depth:-1574.812848 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 109.148307 meters # Minimum depth: 1561.936258 meters looking forward 100.000000 meters along route # Maximum depth: 1566.368958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.936258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971795; longitude = -130.010225; captureRadius = 10; duration = 109; initialDepth = 1516.936258; finalDepth = 1520.341533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.471315 # Actual altitude: 54.471315 # Commanded vehicle depth:1516.936258 # Seafloor depth:-1565.032655 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 109.148566 meters # Minimum depth: 1551.840248 meters looking forward 100.000000 meters along route # Maximum depth: 1561.524676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.840248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970895; longitude = -130.009661; captureRadius = 10; duration = 109; initialDepth = 1506.840248; finalDepth = 1516.936258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.684428 # Actual altitude: 54.684428 # Commanded vehicle depth:1506.840248 # Seafloor depth:-1561.524676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 103.141997 meters # Minimum depth: 1550.652366 meters looking forward 100.000000 meters along route # Maximum depth: 1551.836971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.652366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969995; longitude = -130.009096; captureRadius = 10; duration = 103; initialDepth = 1505.652366; finalDepth = 1506.840248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.684428 # Actual altitude: 54.684428 # Commanded vehicle depth:1505.652366 # Seafloor depth:-1550.652366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 218.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.240997 meters # Minimum depth: 1548.126052 meters looking forward 100.000000 meters along route # Maximum depth: 1551.638297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.126052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969145; longitude = -130.008563; captureRadius = 10; duration = 104; initialDepth = 1503.126052; finalDepth = 1505.652366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5122449999999 # Actual altitude: 50 # Commanded vehicle depth:1503.126052 # Seafloor depth:-1551.638297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 109.149321 meters # Minimum depth: 1547.029782 meters looking forward 100.000000 meters along route # Maximum depth: 1548.047548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.029782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968285; longitude = -130.008024; captureRadius = 10; duration = 109; initialDepth = 1502.029782; finalDepth = 1503.126052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5122449999999 # Actual altitude: 50 # Commanded vehicle depth:1502.029782 # Seafloor depth:-1548.047548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 109.149581 meters # Minimum depth: 1541.382006 meters looking forward 100.000000 meters along route # Maximum depth: 1547.421236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.382006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967385; longitude = -130.007460; captureRadius = 10; duration = 109; initialDepth = 1496.382006; finalDepth = 1502.029782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.948191 # Actual altitude: 50.948191 # Commanded vehicle depth:1496.382006 # Seafloor depth:-1547.330197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 101.962285 meters # Minimum depth: 1541.378042 meters looking forward 100.000000 meters along route # Maximum depth: 1550.755754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.378042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966485; longitude = -130.006896; captureRadius = 10; duration = 101; initialDepth = 1496.378042; finalDepth = 1496.382006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.948191 # Actual altitude: 50.948191 # Commanded vehicle depth:1496.378042 # Seafloor depth:-1541.378042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.422637 meters # Minimum depth: 1549.168770 meters looking forward 100.000000 meters along route # Maximum depth: 1550.672483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.168770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965644; longitude = -130.006369; captureRadius = 10; duration = 105; initialDepth = 1504.168770; finalDepth = 1496.378042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5037130000001 # Actual altitude: 50 # Commanded vehicle depth:1504.16877 # Seafloor depth:-1550.672483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 108.879381 meters # Minimum depth: 1548.739294 meters looking forward 100.000000 meters along route # Maximum depth: 1550.226784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.739294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964775; longitude = -130.005824; captureRadius = 10; duration = 108; initialDepth = 1503.739294; finalDepth = 1504.168770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5037130000001 # Actual altitude: 50 # Commanded vehicle depth:1503.739294 # Seafloor depth:-1549.176784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 61.381501 meters # Minimum depth: 1543.828538 meters looking forward 100.000000 meters along route # Maximum depth: 1549.787311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.828538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963877; longitude = -130.005261; captureRadius = 10; duration = 61; # abortOnTimeout = True; initialDepth = 1498.828538; finalDepth = 1503.739294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6378930000001 # Actual altitude: 50 # Commanded vehicle depth:1498.828538 # Seafloor depth:-1548.466431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 110.868164 meters # Minimum depth: 1543.616741 meters looking forward 100.000000 meters along route # Maximum depth: 1545.734669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.616741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963648; longitude = -130.005982; captureRadius = 10; duration = 110; initialDepth = 1498.616741; finalDepth = 1498.828538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6378930000001 # Actual altitude: 50 # Commanded vehicle depth:1498.616741 # Seafloor depth:-1543.616741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 1.422453 meters # Minimum depth: 1544.122396 meters looking forward 100.000000 meters along route # Maximum depth: 1545.734669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.122396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963233; longitude = -130.007283; captureRadius = 10; duration = 1; # abortOnTimeout = True; initialDepth = 1499.122396; finalDepth = 1498.616741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6070050000001 # Actual altitude: 50 # Commanded vehicle depth:1499.122396 # Seafloor depth:-1545.729401 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 109.305459 meters # Minimum depth: 1545.786474 meters looking forward 100.000000 meters along route # Maximum depth: 1546.122628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.786474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963245; longitude = -130.007290; captureRadius = 10; duration = 109; initialDepth = 1500.786474; finalDepth = 1499.122396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6070050000001 # Actual altitude: 50 # Commanded vehicle depth:1500.786474 # Seafloor depth:-1545.797441 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 109.305194 meters # Minimum depth: 1546.201309 meters looking forward 100.000000 meters along route # Maximum depth: 1549.847863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.201309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964145; longitude = -130.007860; captureRadius = 10; duration = 109; initialDepth = 1501.201309; finalDepth = 1500.786474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0109669999999 # Actual altitude: 50 # Commanded vehicle depth:1501.201309 # Seafloor depth:-1546.201309 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.167899 meters # Minimum depth: 1548.199572 meters looking forward 100.000000 meters along route # Maximum depth: 1550.945501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.199572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965045; longitude = -130.008429; captureRadius = 10; duration = 100; initialDepth = 1503.199572; finalDepth = 1501.201309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.851942 # Actual altitude: 50 # Commanded vehicle depth:1503.199572 # Seafloor depth:-1550.051514 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 107.511241 meters # Minimum depth: 1544.643331 meters looking forward 100.000000 meters along route # Maximum depth: 1547.969852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.643331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965870; longitude = -130.008950; captureRadius = 10; duration = 107; initialDepth = 1499.643331; finalDepth = 1503.199572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.326521 # Actual altitude: 50 # Commanded vehicle depth:1499.643331 # Seafloor depth:-1547.969852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 109.304426 meters # Minimum depth: 1544.719882 meters looking forward 100.000000 meters along route # Maximum depth: 1545.463025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.719882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966755; longitude = -130.009510; captureRadius = 10; duration = 109; initialDepth = 1499.719882; finalDepth = 1499.643331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.326521 # Actual altitude: 50 # Commanded vehicle depth:1499.719882 # Seafloor depth:-1544.719882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 105.424893 meters # Minimum depth: 1544.613307 meters looking forward 100.000000 meters along route # Maximum depth: 1548.163338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.613307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967655; longitude = -130.010080; captureRadius = 10; duration = 105; initialDepth = 1499.613307; finalDepth = 1499.719882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6136179999999 # Actual altitude: 50 # Commanded vehicle depth:1499.613307 # Seafloor depth:-1545.226925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 102.252788 meters # Minimum depth: 1548.609245 meters looking forward 100.000000 meters along route # Maximum depth: 1555.548810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.609245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968523; longitude = -130.010629; captureRadius = 10; duration = 102; initialDepth = 1503.609245; finalDepth = 1499.613307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6136179999999 # Actual altitude: 50 # Commanded vehicle depth:1503.609245 # Seafloor depth:-1548.609245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 109.303659 meters # Minimum depth: 1556.250849 meters looking forward 100.000000 meters along route # Maximum depth: 1558.723330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.250849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969365; longitude = -130.011161; captureRadius = 10; duration = 109; initialDepth = 1511.250849; finalDepth = 1503.609245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1511.250849 # Seafloor depth:-1556.250849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 110.681811 meters # Minimum depth: 1556.157588 meters looking forward 100.000000 meters along route # Maximum depth: 1558.544263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.157588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970265; longitude = -130.011730; captureRadius = 10; duration = 110; initialDepth = 1511.157588; finalDepth = 1511.250849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.386675 # Actual altitude: 50 # Commanded vehicle depth:1511.157588 # Seafloor depth:-1558.544263 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.705478 meters # Minimum depth: 1555.154679 meters looking forward 100.000000 meters along route # Maximum depth: 1558.913502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.154679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971177; longitude = -130.012307; captureRadius = 10; duration = 100; initialDepth = 1510.154679; finalDepth = 1511.157588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.386675 # Actual altitude: 50 # Commanded vehicle depth:1510.154679 # Seafloor depth:-1556.109447 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 77.576975 meters # Minimum depth: 1555.786519 meters looking forward 100.000000 meters along route # Maximum depth: 1558.921173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.786519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972006; longitude = -130.012831; captureRadius = 10; duration = 77; # abortOnTimeout = True; initialDepth = 1510.786519; finalDepth = 1510.154679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.134654 # Actual altitude: 50 # Commanded vehicle depth:1510.786519 # Seafloor depth:-1558.921173 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.232752 meters # Minimum depth: 1555.745913 meters looking forward 100.000000 meters along route # Maximum depth: 1563.255872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.745913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971694; longitude = -130.013726; captureRadius = 10; duration = 101; initialDepth = 1510.745913; finalDepth = 1510.786519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.134654 # Actual altitude: 50 # Commanded vehicle depth:1510.745913 # Seafloor depth:-1555.759758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 99.160876 meters # Minimum depth: 1556.531256 meters looking forward 100.000000 meters along route # Maximum depth: 1563.255872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.531256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971286; longitude = -130.014895; captureRadius = 10; duration = 99; # abortOnTimeout = True; initialDepth = 1511.531256; finalDepth = 1510.745913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6064699999999 # Actual altitude: 51.6064699999999 # Commanded vehicle depth:1511.531256 # Seafloor depth:-1563.137726 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.817170 meters # Minimum depth: 1556.991874 meters looking forward 100.000000 meters along route # Maximum depth: 1558.695567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.991874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970472; longitude = -130.014372; captureRadius = 10; duration = 101; initialDepth = 1511.991874; finalDepth = 1511.531256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6064699999999 # Actual altitude: 51.6064699999999 # Commanded vehicle depth:1511.991874 # Seafloor depth:-1558.146849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 109.583806 meters # Minimum depth: 1552.649749 meters looking forward 100.000000 meters along route # Maximum depth: 1559.850600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.649749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969635; longitude = -130.013835; captureRadius = 10; duration = 109; initialDepth = 1507.649749; finalDepth = 1511.991874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.77241 # Actual altitude: 50.77241 # Commanded vehicle depth:1507.649749 # Seafloor depth:-1558.422159 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 106.691882 meters # Minimum depth: 1541.352263 meters looking forward 100.000000 meters along route # Maximum depth: 1551.624010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.352263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968735; longitude = -130.013257; captureRadius = 10; duration = 106; initialDepth = 1496.352263; finalDepth = 1507.649749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.271747 # Actual altitude: 55.271747 # Commanded vehicle depth:1496.352263 # Seafloor depth:-1551.624010 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.518102 meters # Minimum depth: 1539.918659 meters looking forward 100.000000 meters along route # Maximum depth: 1541.144032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.918659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967859; longitude = -130.012694; captureRadius = 10; duration = 101; initialDepth = 1494.918659; finalDepth = 1496.352263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.271747 # Actual altitude: 55.271747 # Commanded vehicle depth:1494.918659 # Seafloor depth:-1541.144032 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 109.584598 meters # Minimum depth: 1541.280522 meters looking forward 100.000000 meters along route # Maximum depth: 1545.540652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.280522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967025; longitude = -130.012158; captureRadius = 10; duration = 109; initialDepth = 1496.280522; finalDepth = 1494.918659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.225373 # Actual altitude: 50 # Commanded vehicle depth:1496.280522 # Seafloor depth:-1541.280522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 106.992458 meters # Minimum depth: 1544.688344 meters looking forward 100.000000 meters along route # Maximum depth: 1547.000538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.688344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966125; longitude = -130.011580; captureRadius = 10; duration = 106; initialDepth = 1499.688344; finalDepth = 1496.280522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3539910000002 # Actual altitude: 50 # Commanded vehicle depth:1499.688344 # Seafloor depth:-1546.042335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.219029 meters # Minimum depth: 1547.368733 meters looking forward 100.000000 meters along route # Maximum depth: 1551.115617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.368733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965246; longitude = -130.011016; captureRadius = 10; duration = 101; initialDepth = 1502.368733; finalDepth = 1499.688344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3539910000002 # Actual altitude: 50 # Commanded vehicle depth:1502.368733 # Seafloor depth:-1547.368733 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 109.585389 meters # Minimum depth: 1545.973222 meters looking forward 100.000000 meters along route # Maximum depth: 1549.903800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.973222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964415; longitude = -130.010482; captureRadius = 10; duration = 109; initialDepth = 1500.973222; finalDepth = 1502.368733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.930578 # Actual altitude: 50 # Commanded vehicle depth:1500.973222 # Seafloor depth:-1549.903800 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 105.526537 meters # Minimum depth: 1544.913807 meters looking forward 100.000000 meters along route # Maximum depth: 1546.076763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.913807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963515; longitude = -130.009904; captureRadius = 10; duration = 105; initialDepth = 1499.913807; finalDepth = 1500.973222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.930578 # Actual altitude: 50 # Commanded vehicle depth:1499.913807 # Seafloor depth:-1545.513615 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 64.858276 meters # Minimum depth: 1544.986802 meters looking forward 100.000000 meters along route # Maximum depth: 1546.517557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.986802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962648; longitude = -130.009347; captureRadius = 10; duration = 64; # abortOnTimeout = True; initialDepth = 1499.986802; finalDepth = 1499.913807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5998080000002 # Actual altitude: 50 # Commanded vehicle depth:1499.986802 # Seafloor depth:-1545.164459 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.022978 meters # Minimum depth: 1545.737950 meters looking forward 100.000000 meters along route # Maximum depth: 1546.807800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.737950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962411; longitude = -130.010112; captureRadius = 10; duration = 101; initialDepth = 1500.737950; finalDepth = 1499.986802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1995810000001 # Actual altitude: 50 # Commanded vehicle depth:1500.73795 # Seafloor depth:-1545.937531 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 92.305413 meters # Minimum depth: 1546.807800 meters looking forward 100.000000 meters along route # Maximum depth: 1548.296058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.807800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962043; longitude = -130.011304; captureRadius = 10; duration = 92; # abortOnTimeout = True; initialDepth = 1501.807800; finalDepth = 1500.737950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1995810000001 # Actual altitude: 50 # Commanded vehicle depth:1501.8078 # Seafloor depth:-1547.000275 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 108.740505 meters # Minimum depth: 1548.326770 meters looking forward 100.000000 meters along route # Maximum depth: 1555.455895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.326770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962801; longitude = -130.011790; captureRadius = 10; duration = 108; initialDepth = 1503.326770; finalDepth = 1501.807800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1924750000001 # Actual altitude: 50 # Commanded vehicle depth:1503.32677 # Seafloor depth:-1548.326770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.553924 meters # Minimum depth: 1553.912931 meters looking forward 100.000000 meters along route # Maximum depth: 1555.007585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.912931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963695; longitude = -130.012363; captureRadius = 10; duration = 109; initialDepth = 1508.912931; finalDepth = 1503.326770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.094654 # Actual altitude: 50 # Commanded vehicle depth:1508.912931 # Seafloor depth:-1555.007585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.259193 meters # Minimum depth: 1549.190243 meters looking forward 100.000000 meters along route # Maximum depth: 1553.596513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.190243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964595; longitude = -130.012940; captureRadius = 10; duration = 100; initialDepth = 1504.190243; finalDepth = 1508.912931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4062699999999 # Actual altitude: 50 # Commanded vehicle depth:1504.190243 # Seafloor depth:-1553.596513 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 107.892513 meters # Minimum depth: 1542.371802 meters looking forward 100.000000 meters along route # Maximum depth: 1549.086496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.371802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965419; longitude = -130.013468; captureRadius = 10; duration = 107; initialDepth = 1497.371802; finalDepth = 1504.190243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.714694 # Actual altitude: 51.714694 # Commanded vehicle depth:1497.371802 # Seafloor depth:-1549.086496 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.553135 meters # Minimum depth: 1541.215845 meters looking forward 100.000000 meters along route # Maximum depth: 1542.250015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.215845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966305; longitude = -130.014037; captureRadius = 10; duration = 109; initialDepth = 1496.215845; finalDepth = 1497.371802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.714694 # Actual altitude: 51.714694 # Commanded vehicle depth:1496.215845 # Seafloor depth:-1542.250015 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.105674 meters # Minimum depth: 1540.354424 meters looking forward 100.000000 meters along route # Maximum depth: 1546.309839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.354424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967205; longitude = -130.014614; captureRadius = 10; duration = 101; initialDepth = 1495.354424; finalDepth = 1496.215845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0341700000001 # Actual altitude: 50 # Commanded vehicle depth:1495.354424 # Seafloor depth:-1541.287710 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 107.044534 meters # Minimum depth: 1546.439548 meters looking forward 100.000000 meters along route # Maximum depth: 1552.292330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.439548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968036; longitude = -130.015146; captureRadius = 10; duration = 107; initialDepth = 1501.439548; finalDepth = 1495.354424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.933286 # Actual altitude: 50 # Commanded vehicle depth:1501.439548 # Seafloor depth:-1546.439548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.552347 meters # Minimum depth: 1552.625006 meters looking forward 100.000000 meters along route # Maximum depth: 1562.178451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.625006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968915; longitude = -130.015710; captureRadius = 10; duration = 109; initialDepth = 1507.625006; finalDepth = 1501.439548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1507.625006 # Seafloor depth:-1552.625006 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.952142 meters # Minimum depth: 1560.366648 meters looking forward 100.000000 meters along route # Maximum depth: 1562.315577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.366648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969815; longitude = -130.016287; captureRadius = 10; duration = 101; initialDepth = 1515.366648; finalDepth = 1507.625006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9489290000001 # Actual altitude: 50 # Commanded vehicle depth:1515.366648 # Seafloor depth:-1562.315577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 106.196567 meters # Minimum depth: 1560.331905 meters looking forward 100.000000 meters along route # Maximum depth: 1577.041178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.331905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970653; longitude = -130.016824; captureRadius = 10; duration = 106; initialDepth = 1515.331905; finalDepth = 1515.366648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9489290000001 # Actual altitude: 50 # Commanded vehicle depth:1515.331905 # Seafloor depth:-1560.371371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.551558 meters # Minimum depth: 1578.053315 meters looking forward 100.000000 meters along route # Maximum depth: 1584.088045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.053315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971525; longitude = -130.017384; captureRadius = 10; duration = 109; initialDepth = 1533.053315; finalDepth = 1515.331905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0394659999999 # Actual altitude: 50 # Commanded vehicle depth:1533.053315 # Seafloor depth:-1578.053315 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 102.798599 meters # Minimum depth: 1583.053132 meters looking forward 100.000000 meters along route # Maximum depth: 1584.801721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.053132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972425; longitude = -130.017961; captureRadius = 10; duration = 102; initialDepth = 1538.053132; finalDepth = 1533.053315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2392050000001 # Actual altitude: 50 # Commanded vehicle depth:1538.053132 # Seafloor depth:-1584.292337 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 105.348612 meters # Minimum depth: 1581.882768 meters looking forward 100.000000 meters along route # Maximum depth: 1583.022188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.882768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973270; longitude = -130.018503; captureRadius = 10; duration = 105; initialDepth = 1536.882768; finalDepth = 1538.053132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2392050000001 # Actual altitude: 50 # Commanded vehicle depth:1536.882768 # Seafloor depth:-1583.022188 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.550769 meters # Minimum depth: 1582.270988 meters looking forward 100.000000 meters along route # Maximum depth: 1587.553948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.270988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974136; longitude = -130.019057; captureRadius = 10; duration = 109; initialDepth = 1537.270988; finalDepth = 1536.882768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.13942 # Actual altitude: 50 # Commanded vehicle depth:1537.270988 # Seafloor depth:-1582.270988 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.645043 meters # Minimum depth: 1586.505660 meters looking forward 100.000000 meters along route # Maximum depth: 1587.808500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.505660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975036; longitude = -130.019635; captureRadius = 10; duration = 103; initialDepth = 1541.505660; finalDepth = 1537.270988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2051469999999 # Actual altitude: 50 # Commanded vehicle depth:1541.50566 # Seafloor depth:-1587.710807 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.500670 meters # Minimum depth: 1581.874456 meters looking forward 100.000000 meters along route # Maximum depth: 1585.961397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.874456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975887; longitude = -130.020181; captureRadius = 10; duration = 104; initialDepth = 1536.874456; finalDepth = 1541.505660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.086941 # Actual altitude: 50 # Commanded vehicle depth:1536.874456 # Seafloor depth:-1585.961397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.549981 meters # Minimum depth: 1580.930255 meters looking forward 100.000000 meters along route # Maximum depth: 1581.769740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.930255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976746; longitude = -130.020731; captureRadius = 10; duration = 109; initialDepth = 1535.930255; finalDepth = 1536.874456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.086941 # Actual altitude: 50 # Commanded vehicle depth:1535.930255 # Seafloor depth:-1581.688723 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 104.491474 meters # Minimum depth: 1581.159197 meters looking forward 100.000000 meters along route # Maximum depth: 1581.954056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.159197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977646; longitude = -130.021308; captureRadius = 10; duration = 104; initialDepth = 1536.159197; finalDepth = 1535.930255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.758468 # Actual altitude: 50 # Commanded vehicle depth:1536.159197 # Seafloor depth:-1581.222093 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.652740 meters # Minimum depth: 1581.479788 meters looking forward 100.000000 meters along route # Maximum depth: 1582.769107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.479788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978504; longitude = -130.021859; captureRadius = 10; duration = 103; initialDepth = 1536.479788; finalDepth = 1536.159197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0628960000001 # Actual altitude: 50 # Commanded vehicle depth:1536.479788 # Seafloor depth:-1581.479788 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.549192 meters # Minimum depth: 1580.331236 meters looking forward 100.000000 meters along route # Maximum depth: 1583.108705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.331236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979356; longitude = -130.022405; captureRadius = 10; duration = 109; initialDepth = 1535.331236; finalDepth = 1536.479788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6357230000001 # Actual altitude: 50 # Commanded vehicle depth:1535.331236 # Seafloor depth:-1581.966959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 105.337894 meters # Minimum depth: 1578.731293 meters looking forward 100.000000 meters along route # Maximum depth: 1579.894909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.731293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980256; longitude = -130.022982; captureRadius = 10; duration = 105; initialDepth = 1533.731293; finalDepth = 1535.331236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6357230000001 # Actual altitude: 50 # Commanded vehicle depth:1533.731293 # Seafloor depth:-1579.894909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 102.804822 meters # Minimum depth: 1579.212573 meters looking forward 100.000000 meters along route # Maximum depth: 1580.006231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.212573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981122; longitude = -130.023537; captureRadius = 10; duration = 102; initialDepth = 1534.212573; finalDepth = 1533.731293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.163616 # Actual altitude: 50 # Commanded vehicle depth:1534.212573 # Seafloor depth:-1579.212573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.548404 meters # Minimum depth: 1580.032802 meters looking forward 100.000000 meters along route # Maximum depth: 1580.889752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.032802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981966; longitude = -130.024078; captureRadius = 10; duration = 109; initialDepth = 1535.032802; finalDepth = 1534.212573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0705110000001 # Actual altitude: 50 # Commanded vehicle depth:1535.032802 # Seafloor depth:-1580.103313 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 106.184301 meters # Minimum depth: 1579.454179 meters looking forward 100.000000 meters along route # Maximum depth: 1580.179481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.454179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982866; longitude = -130.024655; captureRadius = 10; duration = 106; initialDepth = 1534.454179; finalDepth = 1535.032802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5734229999998 # Actual altitude: 50 # Commanded vehicle depth:1534.454179 # Seafloor depth:-1580.027602 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.956917 meters # Minimum depth: 1579.901612 meters looking forward 100.000000 meters along route # Maximum depth: 1580.910316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.901612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983739; longitude = -130.025215; captureRadius = 10; duration = 101; initialDepth = 1534.901612; finalDepth = 1534.454179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5734229999998 # Actual altitude: 50 # Commanded vehicle depth:1534.901612 # Seafloor depth:-1579.901612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 109.547615 meters # Minimum depth: 1579.481616 meters looking forward 100.000000 meters along route # Maximum depth: 1580.712015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.481616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984576; longitude = -130.025752; captureRadius = 10; duration = 109; initialDepth = 1534.481616; finalDepth = 1534.901612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.368747 # Actual altitude: 50 # Commanded vehicle depth:1534.481616 # Seafloor depth:-1579.850363 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 107.030697 meters # Minimum depth: 1579.461318 meters looking forward 100.000000 meters along route # Maximum depth: 1580.054045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.461318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985477; longitude = -130.026329; captureRadius = 10; duration = 107; initialDepth = 1534.461318; finalDepth = 1534.481616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5927270000002 # Actual altitude: 50 # Commanded vehicle depth:1534.461318 # Seafloor depth:-1580.054045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.109023 meters # Minimum depth: 1579.143918 meters looking forward 100.000000 meters along route # Maximum depth: 1580.004545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.143918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986356; longitude = -130.026893; captureRadius = 10; duration = 101; initialDepth = 1534.143918; finalDepth = 1534.461318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5927270000002 # Actual altitude: 50 # Commanded vehicle depth:1534.143918 # Seafloor depth:-1579.585914 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 106.773956 meters # Minimum depth: 1577.056996 meters looking forward 100.000000 meters along route # Maximum depth: 1579.039475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.056996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987187; longitude = -130.027426; captureRadius = 10; duration = 106; initialDepth = 1532.056996; finalDepth = 1534.143918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.982479 # Actual altitude: 50 # Commanded vehicle depth:1532.056996 # Seafloor depth:-1579.039475 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 67.357844 meters # Minimum depth: 1576.408298 meters looking forward 100.000000 meters along route # Maximum depth: 1577.655324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.408298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988064; longitude = -130.027988; captureRadius = 10; duration = 67; # abortOnTimeout = True; initialDepth = 1531.408298; finalDepth = 1532.056996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.982479 # Actual altitude: 50 # Commanded vehicle depth:1531.408298 # Seafloor depth:-1576.853516 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 102.644931 meters # Minimum depth: 1576.384787 meters looking forward 100.000000 meters along route # Maximum depth: 1577.093449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.384787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987817; longitude = -130.028782; captureRadius = 10; duration = 102; initialDepth = 1531.384787; finalDepth = 1531.408298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5219730000001 # Actual altitude: 50 # Commanded vehicle depth:1531.384787 # Seafloor depth:-1576.906760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 98.229182 meters # Minimum depth: 1576.384787 meters looking forward 100.000000 meters along route # Maximum depth: 1577.858736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.384787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987440; longitude = -130.029992; captureRadius = 10; duration = 98; # abortOnTimeout = True; initialDepth = 1531.384787; finalDepth = 1531.384787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5219730000001 # Actual altitude: 50 # Commanded vehicle depth:1531.384787 # Seafloor depth:-1576.406708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 107.876280 meters # Minimum depth: 1577.892667 meters looking forward 100.000000 meters along route # Maximum depth: 1578.647109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.892667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986633; longitude = -130.029474; captureRadius = 10; duration = 107; initialDepth = 1532.892667; finalDepth = 1531.384787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.021921 # Actual altitude: 50 # Commanded vehicle depth:1532.892667 # Seafloor depth:-1577.892667 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.548667 meters # Minimum depth: 1577.947222 meters looking forward 100.000000 meters along route # Maximum depth: 1578.686734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.947222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985747; longitude = -130.028906; captureRadius = 10; duration = 109; initialDepth = 1532.947222; finalDepth = 1532.892667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7340629999999 # Actual altitude: 50 # Commanded vehicle depth:1532.947222 # Seafloor depth:-1578.681285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.094242 meters # Minimum depth: 1577.271594 meters looking forward 100.000000 meters along route # Maximum depth: 1577.743123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.271594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984847; longitude = -130.028329; captureRadius = 10; duration = 101; initialDepth = 1532.271594; finalDepth = 1532.947222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7340629999999 # Actual altitude: 50 # Commanded vehicle depth:1532.271594 # Seafloor depth:-1577.743123 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 107.048974 meters # Minimum depth: 1577.411880 meters looking forward 100.000000 meters along route # Maximum depth: 1578.217247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.411880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984016; longitude = -130.027796; captureRadius = 10; duration = 107; initialDepth = 1532.411880; finalDepth = 1532.271594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4715289999999 # Actual altitude: 50 # Commanded vehicle depth:1532.41188 # Seafloor depth:-1577.642986 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.549456 meters # Minimum depth: 1577.543888 meters looking forward 100.000000 meters along route # Maximum depth: 1579.106930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.543888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983136; longitude = -130.027232; captureRadius = 10; duration = 109; initialDepth = 1532.543888; finalDepth = 1532.411880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.231106 # Actual altitude: 50 # Commanded vehicle depth:1532.543888 # Seafloor depth:-1577.543888 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.923058 meters # Minimum depth: 1578.559441 meters looking forward 100.000000 meters along route # Maximum depth: 1580.071202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.559441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982236; longitude = -130.026655; captureRadius = 10; duration = 101; initialDepth = 1533.559441; finalDepth = 1532.543888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3242339999999 # Actual altitude: 50 # Commanded vehicle depth:1533.559441 # Seafloor depth:-1578.883675 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.221656 meters # Minimum depth: 1578.559757 meters looking forward 100.000000 meters along route # Maximum depth: 1580.090198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.559757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981399; longitude = -130.026118; captureRadius = 10; duration = 106; initialDepth = 1533.559757; finalDepth = 1533.559441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.529822 # Actual altitude: 50 # Commanded vehicle depth:1533.559757 # Seafloor depth:-1580.089579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.550244 meters # Minimum depth: 1578.866346 meters looking forward 100.000000 meters along route # Maximum depth: 1581.060578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.866346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980526; longitude = -130.025559; captureRadius = 10; duration = 109; initialDepth = 1533.866346; finalDepth = 1533.559757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.529822 # Actual altitude: 50 # Commanded vehicle depth:1533.866346 # Seafloor depth:-1578.866346 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 102.751886 meters # Minimum depth: 1580.947300 meters looking forward 100.000000 meters along route # Maximum depth: 1581.610358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.947300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979626; longitude = -130.024982; captureRadius = 10; duration = 102; initialDepth = 1535.947300; finalDepth = 1533.866346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1535.9473 # Seafloor depth:-1580.947300 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.394327 meters # Minimum depth: 1581.275799 meters looking forward 100.000000 meters along route # Maximum depth: 1582.261513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.275799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978782; longitude = -130.024440; captureRadius = 10; duration = 105; initialDepth = 1536.275799; finalDepth = 1535.947300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.113061 # Actual altitude: 50 # Commanded vehicle depth:1536.275799 # Seafloor depth:-1581.388860 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.551032 meters # Minimum depth: 1582.322725 meters looking forward 100.000000 meters along route # Maximum depth: 1586.398772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.322725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977916; longitude = -130.023885; captureRadius = 10; duration = 109; initialDepth = 1537.322725; finalDepth = 1536.275799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.113061 # Actual altitude: 50 # Commanded vehicle depth:1537.322725 # Seafloor depth:-1582.322725 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.580726 meters # Minimum depth: 1586.036884 meters looking forward 100.000000 meters along route # Maximum depth: 1586.651305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.036884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977016; longitude = -130.023308; captureRadius = 10; duration = 103; initialDepth = 1541.036884; finalDepth = 1537.322725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5179869999999 # Actual altitude: 50 # Commanded vehicle depth:1541.036884 # Seafloor depth:-1586.554871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.566985 meters # Minimum depth: 1586.759484 meters looking forward 100.000000 meters along route # Maximum depth: 1588.964857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.759484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976165; longitude = -130.022762; captureRadius = 10; duration = 104; initialDepth = 1541.759484; finalDepth = 1541.036884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5179869999999 # Actual altitude: 50 # Commanded vehicle depth:1541.759484 # Seafloor depth:-1586.759484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.551821 meters # Minimum depth: 1587.521112 meters looking forward 100.000000 meters along route # Maximum depth: 1588.361756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.521112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975306; longitude = -130.022211; captureRadius = 10; duration = 109; initialDepth = 1542.521112; finalDepth = 1541.759484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3910580000002 # Actual altitude: 50 # Commanded vehicle depth:1542.521112 # Seafloor depth:-1587.912170 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.409578 meters # Minimum depth: 1584.134486 meters looking forward 100.000000 meters along route # Maximum depth: 1588.348026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.134486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974406; longitude = -130.021634; captureRadius = 10; duration = 104; initialDepth = 1539.134486; finalDepth = 1542.521112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.21354 # Actual altitude: 50 # Commanded vehicle depth:1539.134486 # Seafloor depth:-1588.348026 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.739632 meters # Minimum depth: 1582.402004 meters looking forward 100.000000 meters along route # Maximum depth: 1587.066975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.402004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973548; longitude = -130.021084; captureRadius = 10; duration = 103; initialDepth = 1537.402004; finalDepth = 1539.134486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.21354 # Actual altitude: 50 # Commanded vehicle depth:1537.402004 # Seafloor depth:-1586.593491 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.552610 meters # Minimum depth: 1572.498109 meters looking forward 100.000000 meters along route # Maximum depth: 1581.777003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.498109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972696; longitude = -130.020538; captureRadius = 10; duration = 109; initialDepth = 1527.498109; finalDepth = 1537.402004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2788939999998 # Actual altitude: 54.2788939999998 # Commanded vehicle depth:1527.498109 # Seafloor depth:-1581.777003 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 105.238441 meters # Minimum depth: 1556.802770 meters looking forward 100.000000 meters along route # Maximum depth: 1570.086619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.802770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971795; longitude = -130.019960; captureRadius = 10; duration = 105; initialDepth = 1511.802770; finalDepth = 1527.498109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2838489999999 # Actual altitude: 58.2838489999999 # Commanded vehicle depth:1511.80277 # Seafloor depth:-1570.086619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 233.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 102.912266 meters # Minimum depth: 1553.576901 meters looking forward 100.000000 meters along route # Maximum depth: 1556.323001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.576901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970931; longitude = -130.019406; captureRadius = 10; duration = 102; initialDepth = 1508.576901; finalDepth = 1511.802770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2838489999999 # Actual altitude: 58.2838489999999 # Commanded vehicle depth:1508.576901 # Seafloor depth:-1556.323001 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 233.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.553399 meters # Minimum depth: 1554.255942 meters looking forward 100.000000 meters along route # Maximum depth: 1554.962193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.255942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970085; longitude = -130.018864; captureRadius = 10; duration = 109; initialDepth = 1509.255942; finalDepth = 1508.576901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7461000000001 # Actual altitude: 50 # Commanded vehicle depth:1509.255942 # Seafloor depth:-1554.305753 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.067318 meters # Minimum depth: 1550.933826 meters looking forward 100.000000 meters along route # Maximum depth: 1553.885096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.933826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969185; longitude = -130.018287; captureRadius = 10; duration = 106; initialDepth = 1505.933826; finalDepth = 1509.255942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.95127 # Actual altitude: 50 # Commanded vehicle depth:1505.933826 # Seafloor depth:-1553.885096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 102.084888 meters # Minimum depth: 1549.410691 meters looking forward 100.000000 meters along route # Maximum depth: 1553.824980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.410691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968314; longitude = -130.017728; captureRadius = 10; duration = 102; initialDepth = 1504.410691; finalDepth = 1505.933826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4142890000001 # Actual altitude: 50 # Commanded vehicle depth:1504.410691 # Seafloor depth:-1553.824980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.554187 meters # Minimum depth: 1546.740306 meters looking forward 100.000000 meters along route # Maximum depth: 1549.332321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.740306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967475; longitude = -130.017190; captureRadius = 10; duration = 109; initialDepth = 1501.740306; finalDepth = 1504.410691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4142890000001 # Actual altitude: 50 # Commanded vehicle depth:1501.740306 # Seafloor depth:-1549.332321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.896206 meters # Minimum depth: 1547.138471 meters looking forward 100.000000 meters along route # Maximum depth: 1548.779504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.138471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966575; longitude = -130.016613; captureRadius = 10; duration = 106; initialDepth = 1502.138471; finalDepth = 1501.740306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5920150000002 # Actual altitude: 50 # Commanded vehicle depth:1502.138471 # Seafloor depth:-1547.138471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.257499 meters # Minimum depth: 1548.863398 meters looking forward 100.000000 meters along route # Maximum depth: 1552.002882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.863398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965697; longitude = -130.016050; captureRadius = 10; duration = 101; initialDepth = 1503.863398; finalDepth = 1502.138471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1503.863398 # Seafloor depth:-1548.863398 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.554976 meters # Minimum depth: 1551.686197 meters looking forward 100.000000 meters along route # Maximum depth: 1558.641752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.686197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964865; longitude = -130.015517; captureRadius = 10; duration = 109; initialDepth = 1506.686197; finalDepth = 1503.863398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1040680000001 # Actual altitude: 50 # Commanded vehicle depth:1506.686197 # Seafloor depth:-1551.790265 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 107.725106 meters # Minimum depth: 1554.274455 meters looking forward 100.000000 meters along route # Maximum depth: 1558.317383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.274455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963965; longitude = -130.014939; captureRadius = 10; duration = 107; initialDepth = 1509.274455; finalDepth = 1506.686197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0429280000001 # Actual altitude: 50 # Commanded vehicle depth:1509.274455 # Seafloor depth:-1558.317383 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.430098 meters # Minimum depth: 1555.264774 meters looking forward 100.000000 meters along route # Maximum depth: 1556.972288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.264774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963080; longitude = -130.014372; captureRadius = 10; duration = 100; initialDepth = 1510.264774; finalDepth = 1509.274455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0429280000001 # Actual altitude: 50 # Commanded vehicle depth:1510.264774 # Seafloor depth:-1556.560513 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.711691 meters # Minimum depth: 1550.691779 meters looking forward 100.000000 meters along route # Maximum depth: 1555.241919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.691779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962255; longitude = -130.013843; captureRadius = 10; duration = 101; initialDepth = 1505.691779; finalDepth = 1510.264774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5501400000001 # Actual altitude: 50 # Commanded vehicle depth:1505.691779 # Seafloor depth:-1555.241919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 68.468085 meters # Minimum depth: 1549.727539 meters looking forward 100.000000 meters along route # Maximum depth: 1553.898870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.727539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961419; longitude = -130.013307; captureRadius = 10; duration = 68; # abortOnTimeout = True; initialDepth = 1504.727539; finalDepth = 1505.691779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5501400000001 # Actual altitude: 50 # Commanded vehicle depth:1504.727539 # Seafloor depth:-1549.727539 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.531423 meters # Minimum depth: 1551.065309 meters looking forward 100.000000 meters along route # Maximum depth: 1553.988640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.065309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961168; longitude = -130.014114; captureRadius = 10; duration = 101; initialDepth = 1506.065309; finalDepth = 1504.727539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7497509999998 # Actual altitude: 50 # Commanded vehicle depth:1506.065309 # Seafloor depth:-1551.815060 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 91.452755 meters # Minimum depth: 1553.528537 meters looking forward 100.000000 meters along route # Maximum depth: 1558.064028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.528537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960795; longitude = -130.015310; captureRadius = 10; duration = 91; # abortOnTimeout = True; initialDepth = 1508.528537; finalDepth = 1506.065309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.729092 # Actual altitude: 50 # Commanded vehicle depth:1508.528537 # Seafloor depth:-1555.257629 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 108.123887 meters # Minimum depth: 1557.112656 meters looking forward 100.000000 meters along route # Maximum depth: 1559.030130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.112656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961546; longitude = -130.015792; captureRadius = 10; duration = 108; initialDepth = 1512.112656; finalDepth = 1508.528537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.729092 # Actual altitude: 50 # Commanded vehicle depth:1512.112656 # Seafloor depth:-1557.715036 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.556180 meters # Minimum depth: 1559.140556 meters looking forward 100.000000 meters along route # Maximum depth: 1562.513394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.140556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962435; longitude = -130.016361; captureRadius = 10; duration = 109; initialDepth = 1514.140556; finalDepth = 1512.112656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.60238 # Actual altitude: 50 # Commanded vehicle depth:1514.140556 # Seafloor depth:-1559.140556 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.848774 meters # Minimum depth: 1554.054461 meters looking forward 100.000000 meters along route # Maximum depth: 1561.010463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.054461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963335; longitude = -130.016939; captureRadius = 10; duration = 100; initialDepth = 1509.054461; finalDepth = 1514.140556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9560020000001 # Actual altitude: 51.9560020000001 # Commanded vehicle depth:1509.054461 # Seafloor depth:-1561.010463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 107.307217 meters # Minimum depth: 1552.254294 meters looking forward 100.000000 meters along route # Maximum depth: 1553.961157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.254294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964163; longitude = -130.017470; captureRadius = 10; duration = 107; initialDepth = 1507.254294; finalDepth = 1509.054461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9560020000001 # Actual altitude: 51.9560020000001 # Commanded vehicle depth:1507.254294 # Seafloor depth:-1553.961157 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.555391 meters # Minimum depth: 1550.520576 meters looking forward 100.000000 meters along route # Maximum depth: 1551.888664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.520576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965045; longitude = -130.018035; captureRadius = 10; duration = 109; initialDepth = 1505.520576; finalDepth = 1507.254294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7068629999999 # Actual altitude: 50 # Commanded vehicle depth:1505.520576 # Seafloor depth:-1551.888664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.663934 meters # Minimum depth: 1549.867328 meters looking forward 100.000000 meters along route # Maximum depth: 1550.657734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.867328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965945; longitude = -130.018612; captureRadius = 10; duration = 101; initialDepth = 1504.867328; finalDepth = 1505.520576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3680880000002 # Actual altitude: 50 # Commanded vehicle depth:1504.867328 # Seafloor depth:-1550.087119 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 106.490559 meters # Minimum depth: 1550.869197 meters looking forward 100.000000 meters along route # Maximum depth: 1554.960554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.869197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966780; longitude = -130.019148; captureRadius = 10; duration = 106; initialDepth = 1505.869197; finalDepth = 1504.867328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.219791 # Actual altitude: 50 # Commanded vehicle depth:1505.869197 # Seafloor depth:-1550.869197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.554602 meters # Minimum depth: 1550.890263 meters looking forward 100.000000 meters along route # Maximum depth: 1554.848212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.890263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967655; longitude = -130.019709; captureRadius = 10; duration = 109; initialDepth = 1505.890263; finalDepth = 1505.869197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9579490000001 # Actual altitude: 50 # Commanded vehicle depth:1505.890263 # Seafloor depth:-1554.848212 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.479082 meters # Minimum depth: 1550.960091 meters looking forward 100.000000 meters along route # Maximum depth: 1552.045176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.960091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968555; longitude = -130.020286; captureRadius = 10; duration = 102; initialDepth = 1505.960091; finalDepth = 1505.890263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9579490000001 # Actual altitude: 50 # Commanded vehicle depth:1505.960091 # Seafloor depth:-1551.026276 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 105.673912 meters # Minimum depth: 1552.132786 meters looking forward 100.000000 meters along route # Maximum depth: 1557.311105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.132786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969397; longitude = -130.020826; captureRadius = 10; duration = 105; initialDepth = 1507.132786; finalDepth = 1505.960091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0661850000001 # Actual altitude: 50 # Commanded vehicle depth:1507.132786 # Seafloor depth:-1552.132786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.553814 meters # Minimum depth: 1557.018624 meters looking forward 100.000000 meters along route # Maximum depth: 1564.818511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.018624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970265; longitude = -130.021383; captureRadius = 10; duration = 109; initialDepth = 1512.018624; finalDepth = 1507.132786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1560930000001 # Actual altitude: 50 # Commanded vehicle depth:1512.018624 # Seafloor depth:-1557.174717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.294218 meters # Minimum depth: 1566.755661 meters looking forward 100.000000 meters along route # Maximum depth: 1582.049595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.755661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971165; longitude = -130.021960; captureRadius = 10; duration = 103; initialDepth = 1521.755661; finalDepth = 1512.018624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1560930000001 # Actual altitude: 50 # Commanded vehicle depth:1521.755661 # Seafloor depth:-1566.755661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.857278 meters # Minimum depth: 1582.226278 meters looking forward 100.000000 meters along route # Maximum depth: 1584.205207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.226278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972014; longitude = -130.022504; captureRadius = 10; duration = 104; initialDepth = 1537.226278; finalDepth = 1521.755661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1537.226278 # Seafloor depth:-1582.226278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.553024 meters # Minimum depth: 1583.775302 meters looking forward 100.000000 meters along route # Maximum depth: 1584.856718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.775302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972876; longitude = -130.023056; captureRadius = 10; duration = 109; initialDepth = 1538.775302; finalDepth = 1537.226278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1538.775302 # Seafloor depth:-1583.775302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.109343 meters # Minimum depth: 1585.016437 meters looking forward 100.000000 meters along route # Maximum depth: 1586.368014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.016437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973776; longitude = -130.023634; captureRadius = 10; duration = 104; initialDepth = 1540.016437; finalDepth = 1538.775302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1540.016437 # Seafloor depth:-1585.016437 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.040655 meters # Minimum depth: 1585.706599 meters looking forward 100.000000 meters along route # Maximum depth: 1587.803005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.706599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974631; longitude = -130.024182; captureRadius = 10; duration = 104; initialDepth = 1540.706599; finalDepth = 1540.016437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6655799999999 # Actual altitude: 50 # Commanded vehicle depth:1540.706599 # Seafloor depth:-1586.372179 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.552236 meters # Minimum depth: 1587.725839 meters looking forward 100.000000 meters along route # Maximum depth: 1588.645074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.725839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975486; longitude = -130.024730; captureRadius = 10; duration = 109; initialDepth = 1542.725839; finalDepth = 1540.706599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6655799999999 # Actual altitude: 50 # Commanded vehicle depth:1542.725839 # Seafloor depth:-1588.141662 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 104.924456 meters # Minimum depth: 1583.160970 meters looking forward 100.000000 meters along route # Maximum depth: 1587.699820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.160970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976386; longitude = -130.025307; captureRadius = 10; duration = 104; initialDepth = 1538.160970; finalDepth = 1542.725839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5137420000001 # Actual altitude: 50 # Commanded vehicle depth:1538.16097 # Seafloor depth:-1587.674712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.224043 meters # Minimum depth: 1579.811075 meters looking forward 100.000000 meters along route # Maximum depth: 1582.829045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.811075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977248; longitude = -130.025860; captureRadius = 10; duration = 103; initialDepth = 1534.811075; finalDepth = 1538.160970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5137420000001 # Actual altitude: 50 # Commanded vehicle depth:1534.811075 # Seafloor depth:-1582.829045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.551447 meters # Minimum depth: 1579.539347 meters looking forward 100.000000 meters along route # Maximum depth: 1581.155058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.539347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978096; longitude = -130.026404; captureRadius = 10; duration = 109; initialDepth = 1534.539347; finalDepth = 1534.811075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.0179699999999 # Actual altitude: 50 # Commanded vehicle depth:1534.539347 # Seafloor depth:-1580.323548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 105.739557 meters # Minimum depth: 1579.050887 meters looking forward 100.000000 meters along route # Maximum depth: 1579.614101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.050887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978996; longitude = -130.026981; captureRadius = 10; duration = 105; initialDepth = 1534.050887; finalDepth = 1534.539347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7842010000002 # Actual altitude: 50 # Commanded vehicle depth:1534.050887 # Seafloor depth:-1579.500175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.407444 meters # Minimum depth: 1578.732234 meters looking forward 100.000000 meters along route # Maximum depth: 1579.386429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.732234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979865; longitude = -130.027538; captureRadius = 10; duration = 102; initialDepth = 1533.732234; finalDepth = 1534.050887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5013389999999 # Actual altitude: 50 # Commanded vehicle depth:1533.732234 # Seafloor depth:-1579.233573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.550659 meters # Minimum depth: 1577.243121 meters looking forward 100.000000 meters along route # Maximum depth: 1578.652751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.243121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980706; longitude = -130.028078; captureRadius = 10; duration = 109; initialDepth = 1532.243121; finalDepth = 1533.732234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4096300000001 # Actual altitude: 50 # Commanded vehicle depth:1532.243121 # Seafloor depth:-1578.652751 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 106.554646 meters # Minimum depth: 1576.677221 meters looking forward 100.000000 meters along route # Maximum depth: 1577.685626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.677221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981606; longitude = -130.028655; captureRadius = 10; duration = 106; initialDepth = 1531.677221; finalDepth = 1532.243121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4096300000001 # Actual altitude: 50 # Commanded vehicle depth:1531.677221 # Seafloor depth:-1577.134846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 101.590856 meters # Minimum depth: 1576.824068 meters looking forward 100.000000 meters along route # Maximum depth: 1577.759855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.824068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982482; longitude = -130.029216; captureRadius = 10; duration = 101; initialDepth = 1531.824068; finalDepth = 1531.677221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.92129 # Actual altitude: 50 # Commanded vehicle depth:1531.824068 # Seafloor depth:-1577.745358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 109.549871 meters # Minimum depth: 1576.811269 meters looking forward 100.000000 meters along route # Maximum depth: 1577.695570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.811269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983316; longitude = -130.029752; captureRadius = 10; duration = 109; initialDepth = 1531.811269; finalDepth = 1531.824068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.92129 # Actual altitude: 50 # Commanded vehicle depth:1531.811269 # Seafloor depth:-1576.811269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 107.369724 meters # Minimum depth: 1576.352530 meters looking forward 100.000000 meters along route # Maximum depth: 1577.822966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.352530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984216; longitude = -130.030329; captureRadius = 10; duration = 107; initialDepth = 1531.352530; finalDepth = 1531.811269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4704360000001 # Actual altitude: 50 # Commanded vehicle depth:1531.35253 # Seafloor depth:-1577.822966 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.774280 meters # Minimum depth: 1575.971811 meters looking forward 100.000000 meters along route # Maximum depth: 1576.301982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.971811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985099; longitude = -130.030894; captureRadius = 10; duration = 100; initialDepth = 1530.971811; finalDepth = 1531.352530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4704360000001 # Actual altitude: 50 # Commanded vehicle depth:1530.971811 # Seafloor depth:-1576.267907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 108.127752 meters # Minimum depth: 1576.075933 meters looking forward 100.000000 meters along route # Maximum depth: 1577.877574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.075933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985927; longitude = -130.031425; captureRadius = 10; duration = 108; initialDepth = 1531.075933; finalDepth = 1530.971811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.296096 # Actual altitude: 50 # Commanded vehicle depth:1531.075933 # Seafloor depth:-1576.075933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 80.960680 meters # Minimum depth: 1577.786055 meters looking forward 100.000000 meters along route # Maximum depth: 1578.919286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.786055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986815; longitude = -130.031995; captureRadius = 10; duration = 80; # abortOnTimeout = True; initialDepth = 1532.786055; finalDepth = 1531.075933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.266893 # Actual altitude: 50 # Commanded vehicle depth:1532.786055 # Seafloor depth:-1578.052948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.295072 meters # Minimum depth: 1578.570221 meters looking forward 100.000000 meters along route # Maximum depth: 1578.940244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.570221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986278; longitude = -130.032702; captureRadius = 10; duration = 103; initialDepth = 1533.570221; finalDepth = 1532.786055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3700229999999 # Actual altitude: 50 # Commanded vehicle depth:1533.570221 # Seafloor depth:-1578.940244 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 14.169650 meters # Minimum depth: 1578.570221 meters looking forward 100.000000 meters along route # Maximum depth: 1578.896476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.570221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985593; longitude = -130.033603; captureRadius = 10; duration = 14; # abortOnTimeout = True; initialDepth = 1533.570221; finalDepth = 1533.570221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3700229999999 # Actual altitude: 50 # Commanded vehicle depth:1533.570221 # Seafloor depth:-1578.879944 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 108.007539 meters # Minimum depth: 1578.420275 meters looking forward 100.000000 meters along route # Maximum depth: 1578.828090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.420275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985477; longitude = -130.033528; captureRadius = 10; duration = 108; initialDepth = 1533.420275; finalDepth = 1533.570221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.407815 # Actual altitude: 50 # Commanded vehicle depth:1533.420275 # Seafloor depth:-1578.828090 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.110905 meters # Minimum depth: 1578.407416 meters looking forward 100.000000 meters along route # Maximum depth: 1579.960092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.407416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984589; longitude = -130.032960; captureRadius = 10; duration = 100; initialDepth = 1533.407416; finalDepth = 1533.420275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.407815 # Actual altitude: 50 # Commanded vehicle depth:1533.407416 # Seafloor depth:-1578.408915 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.536417 meters # Minimum depth: 1576.108496 meters looking forward 100.000000 meters along route # Maximum depth: 1579.962720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.108496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983766; longitude = -130.032433; captureRadius = 10; duration = 109; initialDepth = 1531.108496; finalDepth = 1533.407416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8542239999999 # Actual altitude: 50 # Commanded vehicle depth:1531.108496 # Seafloor depth:-1579.962720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.536689 meters # Minimum depth: 1576.172515 meters looking forward 100.000000 meters along route # Maximum depth: 1577.087451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.172515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982866; longitude = -130.031856; captureRadius = 10; duration = 109; initialDepth = 1531.172515; finalDepth = 1531.108496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8542239999999 # Actual altitude: 50 # Commanded vehicle depth:1531.172515 # Seafloor depth:-1576.172515 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.536960 meters # Minimum depth: 1576.266193 meters looking forward 100.000000 meters along route # Maximum depth: 1576.932552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.266193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981966; longitude = -130.031279; captureRadius = 10; duration = 109; initialDepth = 1531.266193; finalDepth = 1531.172515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.433084 # Actual altitude: 50 # Commanded vehicle depth:1531.266193 # Seafloor depth:-1576.699277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.634970 meters # Minimum depth: 1577.246845 meters looking forward 100.000000 meters along route # Maximum depth: 1579.294341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.246845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981066; longitude = -130.030702; captureRadius = 10; duration = 110; initialDepth = 1532.246845; finalDepth = 1531.266193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.433084 # Actual altitude: 50 # Commanded vehicle depth:1532.246845 # Seafloor depth:-1577.246845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 108.439764 meters # Minimum depth: 1578.619162 meters looking forward 100.000000 meters along route # Maximum depth: 1579.255116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.619162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980157; longitude = -130.030120; captureRadius = 10; duration = 108; initialDepth = 1533.619162; finalDepth = 1532.246845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.481043 # Actual altitude: 50 # Commanded vehicle depth:1533.619162 # Seafloor depth:-1579.100205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.537775 meters # Minimum depth: 1578.095700 meters looking forward 100.000000 meters along route # Maximum depth: 1579.162378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.095700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979266; longitude = -130.029549; captureRadius = 10; duration = 109; initialDepth = 1533.095700; finalDepth = 1533.619162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0666779999999 # Actual altitude: 50 # Commanded vehicle depth:1533.0957 # Seafloor depth:-1579.162378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.735883 meters # Minimum depth: 1568.935353 meters looking forward 100.000000 meters along route # Maximum depth: 1577.569127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.935353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978366; longitude = -130.028972; captureRadius = 10; duration = 100; initialDepth = 1523.935353; finalDepth = 1533.095700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6337739999999 # Actual altitude: 53.6337739999999 # Commanded vehicle depth:1523.935353 # Seafloor depth:-1577.569127 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 214.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 107.386636 meters # Minimum depth: 1567.360568 meters looking forward 100.000000 meters along route # Maximum depth: 1569.783588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.360568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977538; longitude = -130.028442; captureRadius = 10; duration = 107; initialDepth = 1522.360568; finalDepth = 1523.935353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6337739999999 # Actual altitude: 53.6337739999999 # Commanded vehicle depth:1522.360568 # Seafloor depth:-1568.810572 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 214.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.538562 meters # Minimum depth: 1569.979554 meters looking forward 100.000000 meters along route # Maximum depth: 1578.083980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.979554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976656; longitude = -130.027876; captureRadius = 10; duration = 109; initialDepth = 1524.979554; finalDepth = 1522.360568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.450004 # Actual altitude: 50 # Commanded vehicle depth:1524.979554 # Seafloor depth:-1569.979554 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 101.790524 meters # Minimum depth: 1579.253560 meters looking forward 100.000000 meters along route # Maximum depth: 1587.178743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.253560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975756; longitude = -130.027300; captureRadius = 10; duration = 101; initialDepth = 1534.253560; finalDepth = 1524.979554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1534.25356 # Seafloor depth:-1579.253560 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.333492 meters # Minimum depth: 1587.389428 meters looking forward 100.000000 meters along route # Maximum depth: 1588.428551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.389428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974919; longitude = -130.026764; captureRadius = 10; duration = 106; initialDepth = 1542.389428; finalDepth = 1534.253560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1542.389428 # Seafloor depth:-1587.389428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.539349 meters # Minimum depth: 1586.836959 meters looking forward 100.000000 meters along route # Maximum depth: 1587.458203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.836959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974046; longitude = -130.026204; captureRadius = 10; duration = 109; initialDepth = 1541.836959; finalDepth = 1542.389428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6212439999999 # Actual altitude: 50 # Commanded vehicle depth:1541.836959 # Seafloor depth:-1587.458203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.845179 meters # Minimum depth: 1585.389474 meters looking forward 100.000000 meters along route # Maximum depth: 1586.718813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.389474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973146; longitude = -130.025627; captureRadius = 10; duration = 102; initialDepth = 1540.389474; finalDepth = 1541.836959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3293389999999 # Actual altitude: 50 # Commanded vehicle depth:1540.389474 # Seafloor depth:-1586.718813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 105.280333 meters # Minimum depth: 1584.966456 meters looking forward 100.000000 meters along route # Maximum depth: 1586.385596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.966456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972300; longitude = -130.025086; captureRadius = 10; duration = 105; initialDepth = 1539.966456; finalDepth = 1540.389474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3293389999999 # Actual altitude: 50 # Commanded vehicle depth:1539.966456 # Seafloor depth:-1585.290357 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.540137 meters # Minimum depth: 1572.589831 meters looking forward 100.000000 meters along route # Maximum depth: 1586.292773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.589831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971435; longitude = -130.024531; captureRadius = 10; duration = 109; initialDepth = 1527.589831; finalDepth = 1539.966456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7029419999999 # Actual altitude: 58.7029419999999 # Commanded vehicle depth:1527.589831 # Seafloor depth:-1586.292773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 103.899849 meters # Minimum depth: 1566.817188 meters looking forward 100.000000 meters along route # Maximum depth: 1571.051501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.817188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970535; longitude = -130.023955; captureRadius = 10; duration = 103; initialDepth = 1521.817188; finalDepth = 1527.589831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7029419999999 # Actual altitude: 58.7029419999999 # Commanded vehicle depth:1521.817188 # Seafloor depth:-1571.051501 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.227158 meters # Minimum depth: 1560.378754 meters looking forward 100.000000 meters along route # Maximum depth: 1566.770476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.378754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969682; longitude = -130.023408; captureRadius = 10; duration = 104; initialDepth = 1515.378754; finalDepth = 1521.817188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3917219999998 # Actual altitude: 51.3917219999998 # Commanded vehicle depth:1515.378754 # Seafloor depth:-1566.770476 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.540925 meters # Minimum depth: 1560.629936 meters looking forward 100.000000 meters along route # Maximum depth: 1562.334482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.629936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968825; longitude = -130.022859; captureRadius = 10; duration = 109; initialDepth = 1515.629936; finalDepth = 1515.378754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3917219999998 # Actual altitude: 51.3917219999998 # Commanded vehicle depth:1515.629936 # Seafloor depth:-1560.629936 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.954534 meters # Minimum depth: 1561.886114 meters looking forward 100.000000 meters along route # Maximum depth: 1563.304522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.886114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967925; longitude = -130.022282; captureRadius = 10; duration = 104; initialDepth = 1516.886114; finalDepth = 1515.629936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0201830000001 # Actual altitude: 50 # Commanded vehicle depth:1516.886114 # Seafloor depth:-1562.906297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 103.173970 meters # Minimum depth: 1555.068467 meters looking forward 100.000000 meters along route # Maximum depth: 1561.376092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.068467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967063; longitude = -130.021730; captureRadius = 10; duration = 103; initialDepth = 1510.068467; finalDepth = 1516.886114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3076249999999 # Actual altitude: 51.3076249999999 # Commanded vehicle depth:1510.068467 # Seafloor depth:-1561.376092 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.541711 meters # Minimum depth: 1555.869461 meters looking forward 100.000000 meters along route # Maximum depth: 1563.627107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.869461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966215; longitude = -130.021186; captureRadius = 10; duration = 109; initialDepth = 1510.869461; finalDepth = 1510.068467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3076249999999 # Actual altitude: 51.3076249999999 # Commanded vehicle depth:1510.869461 # Seafloor depth:-1555.869461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 106.009236 meters # Minimum depth: 1562.362920 meters looking forward 100.000000 meters along route # Maximum depth: 1565.938746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.362920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965315; longitude = -130.020610; captureRadius = 10; duration = 106; initialDepth = 1517.362920; finalDepth = 1510.869461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3076859999999 # Actual altitude: 50 # Commanded vehicle depth:1517.36292 # Seafloor depth:-1562.670606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.120765 meters # Minimum depth: 1565.543128 meters looking forward 100.000000 meters along route # Maximum depth: 1567.686610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.543128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964444; longitude = -130.020051; captureRadius = 10; duration = 102; initialDepth = 1520.543128; finalDepth = 1517.362920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.727412 # Actual altitude: 50 # Commanded vehicle depth:1520.543128 # Seafloor depth:-1566.270540 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 109.542499 meters # Minimum depth: 1561.357873 meters looking forward 100.000000 meters along route # Maximum depth: 1565.421906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.357873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963605; longitude = -130.019514; captureRadius = 10; duration = 109; initialDepth = 1516.357873; finalDepth = 1520.543128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0640330000001 # Actual altitude: 50 # Commanded vehicle depth:1516.357873 # Seafloor depth:-1565.421906 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 107.063952 meters # Minimum depth: 1557.904804 meters looking forward 100.000000 meters along route # Maximum depth: 1560.261957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.904804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962705; longitude = -130.018937; captureRadius = 10; duration = 107; initialDepth = 1512.904804; finalDepth = 1516.357873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0640330000001 # Actual altitude: 50 # Commanded vehicle depth:1512.904804 # Seafloor depth:-1560.261957 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 101.067545 meters # Minimum depth: 1559.123147 meters looking forward 100.000000 meters along route # Maximum depth: 1559.575112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.123147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961825; longitude = -130.018373; captureRadius = 10; duration = 101; initialDepth = 1514.123147; finalDepth = 1512.904804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3571529999999 # Actual altitude: 50 # Commanded vehicle depth:1514.123147 # Seafloor depth:-1559.510587 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.348577 meters # Minimum depth: 1552.183245 meters looking forward 100.000000 meters along route # Maximum depth: 1559.635443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.183245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960995; longitude = -130.017841; captureRadius = 10; duration = 100; initialDepth = 1507.183245; finalDepth = 1514.123147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.28144 # Actual altitude: 52.28144 # Commanded vehicle depth:1507.183245 # Seafloor depth:-1559.464685 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 69.596857 meters # Minimum depth: 1549.569873 meters looking forward 100.000000 meters along route # Maximum depth: 1555.512201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.569873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960170; longitude = -130.017313; captureRadius = 10; duration = 69; # abortOnTimeout = True; initialDepth = 1504.569873; finalDepth = 1507.183245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.28144 # Actual altitude: 52.28144 # Commanded vehicle depth:1504.569873 # Seafloor depth:-1551.793152 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.335179 meters # Minimum depth: 1550.625135 meters looking forward 100.000000 meters along route # Maximum depth: 1562.909632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.625135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959914; longitude = -130.018133; captureRadius = 10; duration = 100; initialDepth = 1505.625135; finalDepth = 1504.569873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.223279 # Actual altitude: 50 # Commanded vehicle depth:1505.625135 # Seafloor depth:-1550.625135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 90.805767 meters # Minimum depth: 1562.736211 meters looking forward 100.000000 meters along route # Maximum depth: 1566.925978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.736211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959546; longitude = -130.019315; captureRadius = 10; duration = 90; # abortOnTimeout = True; initialDepth = 1517.736211; finalDepth = 1505.625135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.846309 # Actual altitude: 50 # Commanded vehicle depth:1517.736211 # Seafloor depth:-1563.582520 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 107.416393 meters # Minimum depth: 1565.650732 meters looking forward 100.000000 meters along route # Maximum depth: 1567.440357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.650732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960292; longitude = -130.019793; captureRadius = 10; duration = 107; initialDepth = 1520.650732; finalDepth = 1517.736211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.846309 # Actual altitude: 50 # Commanded vehicle depth:1520.650732 # Seafloor depth:-1565.731545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.554639 meters # Minimum depth: 1565.471944 meters looking forward 100.000000 meters along route # Maximum depth: 1567.141861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.471944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961175; longitude = -130.020359; captureRadius = 10; duration = 109; initialDepth = 1520.471944; finalDepth = 1520.650732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6699170000002 # Actual altitude: 50 # Commanded vehicle depth:1520.471944 # Seafloor depth:-1567.141861 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.588226 meters # Minimum depth: 1564.210493 meters looking forward 100.000000 meters along route # Maximum depth: 1565.332385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.210493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962075; longitude = -130.020936; captureRadius = 10; duration = 101; initialDepth = 1519.210493; finalDepth = 1520.471944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6699170000002 # Actual altitude: 50 # Commanded vehicle depth:1519.210493 # Seafloor depth:-1565.332385 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.564839 meters # Minimum depth: 1565.099856 meters looking forward 100.000000 meters along route # Maximum depth: 1566.820546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.099856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962909; longitude = -130.021471; captureRadius = 10; duration = 106; initialDepth = 1520.099856; finalDepth = 1519.210493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1218919999999 # Actual altitude: 50 # Commanded vehicle depth:1520.099856 # Seafloor depth:-1565.099856 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.553851 meters # Minimum depth: 1566.693460 meters looking forward 100.000000 meters along route # Maximum depth: 1569.842674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.693460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963785; longitude = -130.022033; captureRadius = 10; duration = 109; initialDepth = 1521.693460; finalDepth = 1520.099856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1521.69346 # Seafloor depth:-1566.693460 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 102.438269 meters # Minimum depth: 1567.785773 meters looking forward 100.000000 meters along route # Maximum depth: 1569.836033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.785773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964685; longitude = -130.022610; captureRadius = 10; duration = 102; initialDepth = 1522.785773; finalDepth = 1521.693460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.631185 # Actual altitude: 50 # Commanded vehicle depth:1522.785773 # Seafloor depth:-1569.416958 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.713298 meters # Minimum depth: 1562.543133 meters looking forward 100.000000 meters along route # Maximum depth: 1567.342417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.543133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965526; longitude = -130.023149; captureRadius = 10; duration = 105; initialDepth = 1517.543133; finalDepth = 1522.785773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7992840000002 # Actual altitude: 50 # Commanded vehicle depth:1517.543133 # Seafloor depth:-1567.342417 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.553062 meters # Minimum depth: 1561.494270 meters looking forward 100.000000 meters along route # Maximum depth: 1562.471529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.494270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966395; longitude = -130.023706; captureRadius = 10; duration = 109; initialDepth = 1516.494270; finalDepth = 1517.543133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7992840000002 # Actual altitude: 50 # Commanded vehicle depth:1516.49427 # Seafloor depth:-1562.169529 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.288301 meters # Minimum depth: 1559.650529 meters looking forward 100.000000 meters along route # Maximum depth: 1565.018583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.650529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967295; longitude = -130.024283; captureRadius = 10; duration = 103; initialDepth = 1514.650529; finalDepth = 1516.494270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.95091 # Actual altitude: 50 # Commanded vehicle depth:1514.650529 # Seafloor depth:-1560.601439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.861769 meters # Minimum depth: 1565.235121 meters looking forward 100.000000 meters along route # Maximum depth: 1575.612773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.235121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968144; longitude = -130.024828; captureRadius = 10; duration = 104; initialDepth = 1520.235121; finalDepth = 1514.650529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.95091 # Actual altitude: 50 # Commanded vehicle depth:1520.235121 # Seafloor depth:-1565.235121 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.552273 meters # Minimum depth: 1576.540079 meters looking forward 100.000000 meters along route # Maximum depth: 1583.939780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.540079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969005; longitude = -130.025380; captureRadius = 10; duration = 109; initialDepth = 1531.540079; finalDepth = 1520.235121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1531.540079 # Seafloor depth:-1576.540079 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.138320 meters # Minimum depth: 1583.644073 meters looking forward 100.000000 meters along route # Maximum depth: 1587.498701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.644073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969905; longitude = -130.025957; captureRadius = 10; duration = 104; initialDepth = 1538.644073; finalDepth = 1531.540079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3338960000001 # Actual altitude: 50 # Commanded vehicle depth:1538.644073 # Seafloor depth:-1583.977969 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.010252 meters # Minimum depth: 1585.855014 meters looking forward 100.000000 meters along route # Maximum depth: 1588.796304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.855014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970761; longitude = -130.026506; captureRadius = 10; duration = 104; initialDepth = 1540.855014; finalDepth = 1538.644073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9148190000001 # Actual altitude: 50 # Commanded vehicle depth:1540.855014 # Seafloor depth:-1587.769833 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.551485 meters # Minimum depth: 1585.878471 meters looking forward 100.000000 meters along route # Maximum depth: 1586.683329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.878471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971615; longitude = -130.027054; captureRadius = 10; duration = 109; initialDepth = 1540.878471; finalDepth = 1540.855014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9148190000001 # Actual altitude: 50 # Commanded vehicle depth:1540.878471 # Seafloor depth:-1585.878471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.988326 meters # Minimum depth: 1585.555789 meters looking forward 100.000000 meters along route # Maximum depth: 1586.459961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.555789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972515; longitude = -130.027631; captureRadius = 10; duration = 104; initialDepth = 1540.555789; finalDepth = 1540.878471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7851740000001 # Actual altitude: 50 # Commanded vehicle depth:1540.555789 # Seafloor depth:-1586.340963 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.158747 meters # Minimum depth: 1584.801989 meters looking forward 100.000000 meters along route # Maximum depth: 1585.813252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.801989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973378; longitude = -130.028184; captureRadius = 10; duration = 103; initialDepth = 1539.801989; finalDepth = 1540.555789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8426569999999 # Actual altitude: 50 # Commanded vehicle depth:1539.801989 # Seafloor depth:-1585.644646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.550697 meters # Minimum depth: 1578.440650 meters looking forward 100.000000 meters along route # Maximum depth: 1584.992516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.440650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974226; longitude = -130.028727; captureRadius = 10; duration = 109; initialDepth = 1533.440650; finalDepth = 1539.801989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3727960000001 # Actual altitude: 51.3727960000001 # Commanded vehicle depth:1533.44065 # Seafloor depth:-1584.813446 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 105.838320 meters # Minimum depth: 1549.608919 meters looking forward 100.000000 meters along route # Maximum depth: 1577.079801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.608919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975126; longitude = -130.029304; captureRadius = 10; duration = 105; initialDepth = 1504.608919; finalDepth = 1533.440650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4708820000001 # Actual altitude: 72.4708820000001 # Commanded vehicle depth:1504.608919 # Seafloor depth:-1577.079801 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.99; MB_Bottom_Detect_Filter_Max_Range = 289.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 102.307256 meters # Minimum depth: 1546.827723 meters looking forward 100.000000 meters along route # Maximum depth: 1555.126372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.827723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975995; longitude = -130.029862; captureRadius = 10; duration = 102; initialDepth = 1501.827723; finalDepth = 1504.608919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4708820000001 # Actual altitude: 72.4708820000001 # Commanded vehicle depth:1501.827723 # Seafloor depth:-1548.468343 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 289.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.99; MB_Bottom_Detect_Filter_Max_Range = 289.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.549908 meters # Minimum depth: 1555.713133 meters looking forward 100.000000 meters along route # Maximum depth: 1574.891199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.713133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976836; longitude = -130.030401; captureRadius = 10; duration = 109; initialDepth = 1510.713133; finalDepth = 1501.827723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6406199999999 # Actual altitude: 50 # Commanded vehicle depth:1510.713133 # Seafloor depth:-1555.713133 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.688303 meters # Minimum depth: 1576.452957 meters looking forward 100.000000 meters along route # Maximum depth: 1579.926024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.452957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977736; longitude = -130.030978; captureRadius = 10; duration = 106; initialDepth = 1531.452957; finalDepth = 1510.713133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1531.452957 # Seafloor depth:-1576.452957 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.455775 meters # Minimum depth: 1578.044476 meters looking forward 100.000000 meters along route # Maximum depth: 1579.853314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.044476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978612; longitude = -130.031540; captureRadius = 10; duration = 101; initialDepth = 1533.044476; finalDepth = 1531.452957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8088379999999 # Actual altitude: 50 # Commanded vehicle depth:1533.044476 # Seafloor depth:-1579.853314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.549120 meters # Minimum depth: 1577.066260 meters looking forward 100.000000 meters along route # Maximum depth: 1578.047626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.066260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979446; longitude = -130.032074; captureRadius = 10; duration = 109; initialDepth = 1532.066260; finalDepth = 1533.044476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8088379999999 # Actual altitude: 50 # Commanded vehicle depth:1532.06626 # Seafloor depth:-1577.971383 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 107.538273 meters # Minimum depth: 1577.885745 meters looking forward 100.000000 meters along route # Maximum depth: 1578.352611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.885745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980346; longitude = -130.032651; captureRadius = 10; duration = 107; initialDepth = 1532.885745; finalDepth = 1532.066260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.905123 # Actual altitude: 50 # Commanded vehicle depth:1532.885745 # Seafloor depth:-1578.311815 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.604307 meters # Minimum depth: 1577.399192 meters looking forward 100.000000 meters along route # Maximum depth: 1578.492379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.399192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981230; longitude = -130.033218; captureRadius = 10; duration = 100; initialDepth = 1532.399192; finalDepth = 1532.885745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4542859999999 # Actual altitude: 50 # Commanded vehicle depth:1532.399192 # Seafloor depth:-1577.853478 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 109.548332 meters # Minimum depth: 1578.608920 meters looking forward 100.000000 meters along route # Maximum depth: 1579.219162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.608920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982056; longitude = -130.033748; captureRadius = 10; duration = 109; initialDepth = 1533.608920; finalDepth = 1532.399192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4542859999999 # Actual altitude: 50 # Commanded vehicle depth:1533.60892 # Seafloor depth:-1578.608920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.653602 meters # Minimum depth: 1578.193962 meters looking forward 100.000000 meters along route # Maximum depth: 1579.576959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.193962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982956; longitude = -130.034325; captureRadius = 10; duration = 103; initialDepth = 1533.193962; finalDepth = 1533.608920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6875209999998 # Actual altitude: 50 # Commanded vehicle depth:1533.193962 # Seafloor depth:-1578.881483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 86.487950 meters # Minimum depth: 1577.402686 meters looking forward 100.000000 meters along route # Maximum depth: 1579.576959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.402686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983808; longitude = -130.034871; captureRadius = 10; duration = 86; # abortOnTimeout = True; initialDepth = 1532.402686; finalDepth = 1533.193962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.142511 # Actual altitude: 50 # Commanded vehicle depth:1532.402686 # Seafloor depth:-1579.545197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.208372 meters # Minimum depth: 1576.938473 meters looking forward 100.000000 meters along route # Maximum depth: 1577.793111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.938473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983046; longitude = -130.035101; captureRadius = 10; duration = 102; initialDepth = 1531.938473; finalDepth = 1532.402686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.142511 # Actual altitude: 50 # Commanded vehicle depth:1531.938473 # Seafloor depth:-1577.248932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 102.459727 meters # Minimum depth: 1576.419735 meters looking forward 100.000000 meters along route # Maximum depth: 1577.263614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.419735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982146; longitude = -130.035373; captureRadius = 10; duration = 102; initialDepth = 1531.419735; finalDepth = 1531.938473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.843879 # Actual altitude: 50 # Commanded vehicle depth:1531.419735 # Seafloor depth:-1577.263614 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 68.807848 meters # Minimum depth: 1576.660835 meters looking forward 100.000000 meters along route # Maximum depth: 1577.736308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.660835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981244; longitude = -130.035646; captureRadius = 10; duration = 68; # abortOnTimeout = True; initialDepth = 1531.660835; finalDepth = 1531.419735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.843879 # Actual altitude: 50 # Commanded vehicle depth:1531.660835 # Seafloor depth:-1577.231598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 106.233484 meters # Minimum depth: 1576.274663 meters looking forward 100.000000 meters along route # Maximum depth: 1577.856615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.274663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980679; longitude = -130.035283; captureRadius = 10; duration = 106; initialDepth = 1531.274663; finalDepth = 1531.660835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.05359 # Actual altitude: 50 # Commanded vehicle depth:1531.274663 # Seafloor depth:-1577.328253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.569556 meters # Minimum depth: 1577.889867 meters looking forward 100.000000 meters along route # Maximum depth: 1578.980242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.889867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979806; longitude = -130.034723; captureRadius = 10; duration = 109; initialDepth = 1532.889867; finalDepth = 1531.274663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.05359 # Actual altitude: 50 # Commanded vehicle depth:1532.889867 # Seafloor depth:-1578.286105 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 102.446790 meters # Minimum depth: 1577.420714 meters looking forward 100.000000 meters along route # Maximum depth: 1579.393766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.420714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978906; longitude = -130.034145; captureRadius = 10; duration = 102; initialDepth = 1532.420714; finalDepth = 1532.889867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3962379999998 # Actual altitude: 50 # Commanded vehicle depth:1532.420714 # Seafloor depth:-1577.641101 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 105.736117 meters # Minimum depth: 1579.442419 meters looking forward 100.000000 meters along route # Maximum depth: 1581.056710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.442419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978064; longitude = -130.033605; captureRadius = 10; duration = 105; initialDepth = 1534.442419; finalDepth = 1532.420714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2203869999998 # Actual altitude: 50 # Commanded vehicle depth:1534.442419 # Seafloor depth:-1579.592687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.570347 meters # Minimum depth: 1574.744836 meters looking forward 100.000000 meters along route # Maximum depth: 1579.198408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.744836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977196; longitude = -130.033048; captureRadius = 10; duration = 109; initialDepth = 1529.744836; finalDepth = 1534.442419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4535719999999 # Actual altitude: 50 # Commanded vehicle depth:1529.744836 # Seafloor depth:-1579.198408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 102.945665 meters # Minimum depth: 1567.563492 meters looking forward 100.000000 meters along route # Maximum depth: 1573.894975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.563492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976296; longitude = -130.032470; captureRadius = 10; duration = 102; initialDepth = 1522.563492; finalDepth = 1529.744836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3314829999999 # Actual altitude: 51.3314829999999 # Commanded vehicle depth:1522.563492 # Seafloor depth:-1573.894975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 105.238743 meters # Minimum depth: 1566.803137 meters looking forward 100.000000 meters along route # Maximum depth: 1572.001249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.803137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975450; longitude = -130.031927; captureRadius = 10; duration = 105; initialDepth = 1521.803137; finalDepth = 1522.563492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3314829999999 # Actual altitude: 51.3314829999999 # Commanded vehicle depth:1521.803137 # Seafloor depth:-1567.345633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.571136 meters # Minimum depth: 1572.883640 meters looking forward 100.000000 meters along route # Maximum depth: 1580.039837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.883640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974586; longitude = -130.031372; captureRadius = 10; duration = 109; initialDepth = 1527.883640; finalDepth = 1521.803137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5424959999998 # Actual altitude: 50 # Commanded vehicle depth:1527.88364 # Seafloor depth:-1572.883640 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 103.444548 meters # Minimum depth: 1580.421578 meters looking forward 100.000000 meters along route # Maximum depth: 1583.602852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.421578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973686; longitude = -130.030794; captureRadius = 10; duration = 103; initialDepth = 1535.421578; finalDepth = 1527.883640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1535.421578 # Seafloor depth:-1580.421578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.741362 meters # Minimum depth: 1583.692801 meters looking forward 100.000000 meters along route # Maximum depth: 1584.280251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.692801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972836; longitude = -130.030249; captureRadius = 10; duration = 104; initialDepth = 1538.692801; finalDepth = 1535.421578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1538.692801 # Seafloor depth:-1583.692801 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.571926 meters # Minimum depth: 1583.375992 meters looking forward 100.000000 meters along route # Maximum depth: 1584.157986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.375992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971975; longitude = -130.029697; captureRadius = 10; duration = 109; initialDepth = 1538.375992; finalDepth = 1538.692801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7819939999999 # Actual altitude: 50 # Commanded vehicle depth:1538.375992 # Seafloor depth:-1584.157986 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 103.943437 meters # Minimum depth: 1583.685088 meters looking forward 100.000000 meters along route # Maximum depth: 1584.760431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.685088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971075; longitude = -130.029119; captureRadius = 10; duration = 103; initialDepth = 1538.685088; finalDepth = 1538.375992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7819939999999 # Actual altitude: 50 # Commanded vehicle depth:1538.685088 # Seafloor depth:-1583.685088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.243973 meters # Minimum depth: 1584.884492 meters looking forward 100.000000 meters along route # Maximum depth: 1585.741308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.884492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970222; longitude = -130.028571; captureRadius = 10; duration = 104; initialDepth = 1539.884492; finalDepth = 1538.685088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.116172 # Actual altitude: 50 # Commanded vehicle depth:1539.884492 # Seafloor depth:-1585.000664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.572717 meters # Minimum depth: 1584.744193 meters looking forward 100.000000 meters along route # Maximum depth: 1585.429131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.744193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969365; longitude = -130.028021; captureRadius = 10; duration = 109; initialDepth = 1539.744193; finalDepth = 1539.884492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.116172 # Actual altitude: 50 # Commanded vehicle depth:1539.744193 # Seafloor depth:-1584.744193 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.442334 meters # Minimum depth: 1581.706654 meters looking forward 100.000000 meters along route # Maximum depth: 1584.764411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.706654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968465; longitude = -130.027444; captureRadius = 10; duration = 104; initialDepth = 1536.706654; finalDepth = 1539.744193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.057757 # Actual altitude: 50 # Commanded vehicle depth:1536.706654 # Seafloor depth:-1584.764411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 103.746577 meters # Minimum depth: 1576.677149 meters looking forward 100.000000 meters along route # Maximum depth: 1581.587863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.677149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967607; longitude = -130.026893; captureRadius = 10; duration = 103; initialDepth = 1531.677149; finalDepth = 1536.706654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9107139999999 # Actual altitude: 50 # Commanded vehicle depth:1531.677149 # Seafloor depth:-1581.587863 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.573507 meters # Minimum depth: 1575.086783 meters looking forward 100.000000 meters along route # Maximum depth: 1578.915895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.086783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966755; longitude = -130.026346; captureRadius = 10; duration = 109; initialDepth = 1530.086783; finalDepth = 1531.677149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9107139999999 # Actual altitude: 50 # Commanded vehicle depth:1530.086783 # Seafloor depth:-1576.429564 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.941238 meters # Minimum depth: 1580.025471 meters looking forward 100.000000 meters along route # Maximum depth: 1581.759466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.025471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965855; longitude = -130.025768; captureRadius = 10; duration = 104; initialDepth = 1535.025471; finalDepth = 1530.086783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3427810000001 # Actual altitude: 50 # Commanded vehicle depth:1535.025471 # Seafloor depth:-1580.082955 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 103.249174 meters # Minimum depth: 1572.536052 meters looking forward 100.000000 meters along route # Maximum depth: 1579.786493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.536052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964993; longitude = -130.025215; captureRadius = 10; duration = 103; initialDepth = 1527.536052; finalDepth = 1535.025471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2504410000001 # Actual altitude: 52.2504410000001 # Commanded vehicle depth:1527.536052 # Seafloor depth:-1579.786493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.574297 meters # Minimum depth: 1571.221797 meters looking forward 100.000000 meters along route # Maximum depth: 1573.012128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.221797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964145; longitude = -130.024670; captureRadius = 10; duration = 109; initialDepth = 1526.221797; finalDepth = 1527.536052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2504410000001 # Actual altitude: 52.2504410000001 # Commanded vehicle depth:1526.221797 # Seafloor depth:-1572.235059 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 105.440149 meters # Minimum depth: 1569.231928 meters looking forward 100.000000 meters along route # Maximum depth: 1573.175397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.231928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963245; longitude = -130.024093; captureRadius = 10; duration = 105; initialDepth = 1524.231928; finalDepth = 1526.221797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9434690000001 # Actual altitude: 50 # Commanded vehicle depth:1524.231928 # Seafloor depth:-1573.175397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 102.751765 meters # Minimum depth: 1563.367933 meters looking forward 100.000000 meters along route # Maximum depth: 1568.873455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.367933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962379; longitude = -130.023537; captureRadius = 10; duration = 102; initialDepth = 1518.367933; finalDepth = 1524.231928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5055219999999 # Actual altitude: 50.5055219999999 # Commanded vehicle depth:1518.367933 # Seafloor depth:-1568.873455 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.575087 meters # Minimum depth: 1563.324111 meters looking forward 100.000000 meters along route # Maximum depth: 1567.756731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.324111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961535; longitude = -130.022995; captureRadius = 10; duration = 109; initialDepth = 1518.324111; finalDepth = 1518.367933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5055219999999 # Actual altitude: 50.5055219999999 # Commanded vehicle depth:1518.324111 # Seafloor depth:-1563.324111 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 105.939068 meters # Minimum depth: 1568.032346 meters looking forward 100.000000 meters along route # Maximum depth: 1569.915458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.032346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960634; longitude = -130.022417; captureRadius = 10; duration = 105; initialDepth = 1523.032346; finalDepth = 1518.324111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1523.032346 # Seafloor depth:-1568.032346 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 102.540828 meters # Minimum depth: 1567.292430 meters looking forward 100.000000 meters along route # Maximum depth: 1570.183720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.292430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959764; longitude = -130.021859; captureRadius = 10; duration = 102; initialDepth = 1522.292430; finalDepth = 1523.032346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7082820000001 # Actual altitude: 50 # Commanded vehicle depth:1522.29243 # Seafloor depth:-1570.000712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 67.817598 meters # Minimum depth: 1566.993186 meters looking forward 100.000000 meters along route # Maximum depth: 1567.780547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.993186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958922; longitude = -130.021318; captureRadius = 10; duration = 67; # abortOnTimeout = True; initialDepth = 1521.993186; finalDepth = 1522.292430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7082820000001 # Actual altitude: 50 # Commanded vehicle depth:1521.993186 # Seafloor depth:-1567.607086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.233819 meters # Minimum depth: 1567.563723 meters looking forward 100.000000 meters along route # Maximum depth: 1569.203307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.563723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958673; longitude = -130.022117; captureRadius = 10; duration = 102; initialDepth = 1522.563723; finalDepth = 1521.993186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6139000000001 # Actual altitude: 50 # Commanded vehicle depth:1522.563723 # Seafloor depth:-1567.563723 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 40.950921 meters # Minimum depth: 1568.855531 meters looking forward 100.000000 meters along route # Maximum depth: 1569.599180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.855531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958297; longitude = -130.023321; captureRadius = 10; duration = 40; # abortOnTimeout = True; initialDepth = 1523.855531; finalDepth = 1522.563723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.578276 # Actual altitude: 50 # Commanded vehicle depth:1523.855531 # Seafloor depth:-1569.433807 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.142834 meters # Minimum depth: 1565.375286 meters looking forward 100.000000 meters along route # Maximum depth: 1569.488621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.375286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958633; longitude = -130.023537; captureRadius = 10; duration = 101; initialDepth = 1520.375286; finalDepth = 1523.855531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.113335 # Actual altitude: 50 # Commanded vehicle depth:1520.375286 # Seafloor depth:-1569.488621 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.555309 meters # Minimum depth: 1564.546971 meters looking forward 100.000000 meters along route # Maximum depth: 1565.356774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.546971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959464; longitude = -130.024070; captureRadius = 10; duration = 109; initialDepth = 1519.546971; finalDepth = 1520.375286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.113335 # Actual altitude: 50 # Commanded vehicle depth:1519.546971 # Seafloor depth:-1565.348261 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 107.861728 meters # Minimum depth: 1561.968456 meters looking forward 100.000000 meters along route # Maximum depth: 1564.101525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.968456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960364; longitude = -130.024647; captureRadius = 10; duration = 107; initialDepth = 1516.968456; finalDepth = 1519.546971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.133069 # Actual altitude: 50 # Commanded vehicle depth:1516.968456 # Seafloor depth:-1564.101525 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.292611 meters # Minimum depth: 1564.218004 meters looking forward 100.000000 meters along route # Maximum depth: 1566.569363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.218004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961251; longitude = -130.025215; captureRadius = 10; duration = 100; initialDepth = 1519.218004; finalDepth = 1516.968456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.133069 # Actual altitude: 50 # Commanded vehicle depth:1519.218004 # Seafloor depth:-1564.218004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.554520 meters # Minimum depth: 1566.778185 meters looking forward 100.000000 meters along route # Maximum depth: 1574.597953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.778185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962075; longitude = -130.025743; captureRadius = 10; duration = 109; initialDepth = 1521.778185; finalDepth = 1519.218004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1521.778185 # Seafloor depth:-1566.778185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.554249 meters # Minimum depth: 1576.701844 meters looking forward 100.000000 meters along route # Maximum depth: 1581.828998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.701844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962975; longitude = -130.026320; captureRadius = 10; duration = 109; initialDepth = 1531.701844; finalDepth = 1521.778185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1531.701844 # Seafloor depth:-1576.701844 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.553977 meters # Minimum depth: 1581.062862 meters looking forward 100.000000 meters along route # Maximum depth: 1582.193561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.062862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963875; longitude = -130.026897; captureRadius = 10; duration = 109; initialDepth = 1536.062862; finalDepth = 1531.701844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.259407 # Actual altitude: 50 # Commanded vehicle depth:1536.062862 # Seafloor depth:-1581.322269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 110.140727 meters # Minimum depth: 1582.142551 meters looking forward 100.000000 meters along route # Maximum depth: 1584.623418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.142551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964775; longitude = -130.027474; captureRadius = 10; duration = 110; initialDepth = 1537.142551; finalDepth = 1536.062862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.259407 # Actual altitude: 50 # Commanded vehicle depth:1537.142551 # Seafloor depth:-1582.146796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 108.966412 meters # Minimum depth: 1584.650927 meters looking forward 100.000000 meters along route # Maximum depth: 1585.939507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.650927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965680; longitude = -130.028055; captureRadius = 10; duration = 108; initialDepth = 1539.650927; finalDepth = 1537.142551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0042450000001 # Actual altitude: 50 # Commanded vehicle depth:1539.650927 # Seafloor depth:-1584.650927 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.553161 meters # Minimum depth: 1583.640113 meters looking forward 100.000000 meters along route # Maximum depth: 1584.932349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.640113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966575; longitude = -130.028629; captureRadius = 10; duration = 109; initialDepth = 1538.640113; finalDepth = 1539.650927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2860920000001 # Actual altitude: 50 # Commanded vehicle depth:1538.640113 # Seafloor depth:-1584.926205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.034110 meters # Minimum depth: 1583.311612 meters looking forward 100.000000 meters along route # Maximum depth: 1584.097043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.311612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967475; longitude = -130.029206; captureRadius = 10; duration = 100; initialDepth = 1538.311612; finalDepth = 1538.640113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2860920000001 # Actual altitude: 50 # Commanded vehicle depth:1538.311612 # Seafloor depth:-1583.741569 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 108.116148 meters # Minimum depth: 1582.722277 meters looking forward 100.000000 meters along route # Maximum depth: 1583.502173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.722277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968297; longitude = -130.029733; captureRadius = 10; duration = 108; initialDepth = 1537.722277; finalDepth = 1538.311612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.779896 # Actual altitude: 50 # Commanded vehicle depth:1537.722277 # Seafloor depth:-1583.502173 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.552374 meters # Minimum depth: 1581.962194 meters looking forward 100.000000 meters along route # Maximum depth: 1583.129099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.962194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969185; longitude = -130.030302; captureRadius = 10; duration = 109; initialDepth = 1536.962194; finalDepth = 1537.722277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.779896 # Actual altitude: 50 # Commanded vehicle depth:1536.962194 # Seafloor depth:-1582.642537 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.882862 meters # Minimum depth: 1580.817215 meters looking forward 100.000000 meters along route # Maximum depth: 1583.230429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.817215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970085; longitude = -130.030879; captureRadius = 10; duration = 100; initialDepth = 1535.817215; finalDepth = 1536.962194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4132139999999 # Actual altitude: 50 # Commanded vehicle depth:1535.817215 # Seafloor depth:-1583.230429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 107.265898 meters # Minimum depth: 1579.460884 meters looking forward 100.000000 meters along route # Maximum depth: 1581.050542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.460884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970914; longitude = -130.031411; captureRadius = 10; duration = 107; initialDepth = 1534.460884; finalDepth = 1535.817215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4132139999999 # Actual altitude: 50 # Commanded vehicle depth:1534.460884 # Seafloor depth:-1581.050542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.551585 meters # Minimum depth: 1578.806441 meters looking forward 100.000000 meters along route # Maximum depth: 1579.267114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.806441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971795; longitude = -130.031976; captureRadius = 10; duration = 109; initialDepth = 1533.806441; finalDepth = 1534.460884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5896579999999 # Actual altitude: 50 # Commanded vehicle depth:1533.806441 # Seafloor depth:-1579.267114 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.731604 meters # Minimum depth: 1578.474751 meters looking forward 100.000000 meters along route # Maximum depth: 1579.239155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.474751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972696; longitude = -130.032553; captureRadius = 10; duration = 101; initialDepth = 1533.474751; finalDepth = 1533.806441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.579657 # Actual altitude: 50 # Commanded vehicle depth:1533.474751 # Seafloor depth:-1579.054408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.415658 meters # Minimum depth: 1577.211655 meters looking forward 100.000000 meters along route # Maximum depth: 1578.788329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.211655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973531; longitude = -130.033089; captureRadius = 10; duration = 106; initialDepth = 1532.211655; finalDepth = 1533.474751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4957889999998 # Actual altitude: 50 # Commanded vehicle depth:1532.211655 # Seafloor depth:-1578.707444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.550797 meters # Minimum depth: 1575.484558 meters looking forward 100.000000 meters along route # Maximum depth: 1576.791400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.484558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974406; longitude = -130.033649; captureRadius = 10; duration = 109; initialDepth = 1530.484558; finalDepth = 1532.211655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4957889999998 # Actual altitude: 50 # Commanded vehicle depth:1530.484558 # Seafloor depth:-1576.791400 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.580333 meters # Minimum depth: 1575.721395 meters looking forward 100.000000 meters along route # Maximum depth: 1576.951925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.721395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975306; longitude = -130.034226; captureRadius = 10; duration = 102; initialDepth = 1530.721395; finalDepth = 1530.484558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.306842 # Actual altitude: 50 # Commanded vehicle depth:1530.721395 # Seafloor depth:-1575.721395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 105.565432 meters # Minimum depth: 1576.957269 meters looking forward 100.000000 meters along route # Maximum depth: 1577.898848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.957269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976149; longitude = -130.034767; captureRadius = 10; duration = 105; initialDepth = 1531.957269; finalDepth = 1530.721395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1531.957269 # Seafloor depth:-1576.957269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.133429 meters # Minimum depth: 1577.981838 meters looking forward 100.000000 meters along route # Maximum depth: 1578.355389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.981838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977016; longitude = -130.035323; captureRadius = 10; duration = 102; initialDepth = 1532.981838; finalDepth = 1531.957269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0861480000001 # Actual altitude: 50 # Commanded vehicle depth:1532.981838 # Seafloor depth:-1578.067986 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 43.524386 meters # Minimum depth: 1577.752810 meters looking forward 100.000000 meters along route # Maximum depth: 1578.262512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.752810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977855; longitude = -130.035861; captureRadius = 10; duration = 43; # abortOnTimeout = True; initialDepth = 1532.752810; finalDepth = 1532.981838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5097020000001 # Actual altitude: 50 # Commanded vehicle depth:1532.75281 # Seafloor depth:-1578.262512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.681095 meters # Minimum depth: 1577.531182 meters looking forward 100.000000 meters along route # Maximum depth: 1578.088258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.531182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977466; longitude = -130.035926; captureRadius = 10; duration = 100; initialDepth = 1532.531182; finalDepth = 1532.752810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5097020000001 # Actual altitude: 50 # Commanded vehicle depth:1532.531182 # Seafloor depth:-1577.887610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.681103 meters # Minimum depth: 1576.833693 meters looking forward 100.000000 meters along route # Maximum depth: 1577.572263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.833693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976566; longitude = -130.036075; captureRadius = 10; duration = 100; initialDepth = 1531.833693; finalDepth = 1532.531182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6422419999999 # Actual altitude: 50 # Commanded vehicle depth:1531.833693 # Seafloor depth:-1577.475935 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.434276 meters # Minimum depth: 1576.358306 meters looking forward 100.000000 meters along route # Maximum depth: 1578.443786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.358306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975666; longitude = -130.036225; captureRadius = 10; duration = 102; initialDepth = 1531.358306; finalDepth = 1531.833693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.087491 # Actual altitude: 50 # Commanded vehicle depth:1531.358306 # Seafloor depth:-1577.445797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 74.827322 meters # Minimum depth: 1577.351479 meters looking forward 100.000000 meters along route # Maximum depth: 1578.618799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.351479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974750; longitude = -130.036377; captureRadius = 10; duration = 74; # abortOnTimeout = True; initialDepth = 1532.351479; finalDepth = 1531.358306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1334450000002 # Actual altitude: 50 # Commanded vehicle depth:1532.351479 # Seafloor depth:-1578.484924 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.623364 meters # Minimum depth: 1577.480108 meters looking forward 100.000000 meters along route # Maximum depth: 1579.362218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.480108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974136; longitude = -130.035982; captureRadius = 10; duration = 109; initialDepth = 1532.480108; finalDepth = 1532.351479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1334450000002 # Actual altitude: 50 # Commanded vehicle depth:1532.480108 # Seafloor depth:-1578.371767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.623638 meters # Minimum depth: 1576.602389 meters looking forward 100.000000 meters along route # Maximum depth: 1577.953038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.602389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973236; longitude = -130.035402; captureRadius = 10; duration = 109; initialDepth = 1531.602389; finalDepth = 1532.480108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8916590000001 # Actual altitude: 50 # Commanded vehicle depth:1531.602389 # Seafloor depth:-1577.404512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.271531 meters # Minimum depth: 1577.472562 meters looking forward 100.000000 meters along route # Maximum depth: 1578.202752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.472562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972335; longitude = -130.034823; captureRadius = 10; duration = 108; initialDepth = 1532.472562; finalDepth = 1531.602389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8021230000002 # Actual altitude: 50 # Commanded vehicle depth:1532.472562 # Seafloor depth:-1578.154299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.014136 meters # Minimum depth: 1578.220679 meters looking forward 100.000000 meters along route # Maximum depth: 1579.203139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.220679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971446; longitude = -130.034251; captureRadius = 10; duration = 100; initialDepth = 1533.220679; finalDepth = 1532.472562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6817370000001 # Actual altitude: 50 # Commanded vehicle depth:1533.220679 # Seafloor depth:-1578.220679 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.624433 meters # Minimum depth: 1579.362672 meters looking forward 100.000000 meters along route # Maximum depth: 1583.587278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.362672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970625; longitude = -130.033722; captureRadius = 10; duration = 109; initialDepth = 1534.362672; finalDepth = 1533.220679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1534.362672 # Seafloor depth:-1579.362672 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 107.868633 meters # Minimum depth: 1581.987682 meters looking forward 100.000000 meters along route # Maximum depth: 1583.620146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.987682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969725; longitude = -130.033143; captureRadius = 10; duration = 107; initialDepth = 1536.987682; finalDepth = 1534.362672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1536.987682 # Seafloor depth:-1581.987682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.418543 meters # Minimum depth: 1583.073261 meters looking forward 100.000000 meters along route # Maximum depth: 1583.645696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.073261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968840; longitude = -130.032572; captureRadius = 10; duration = 100; initialDepth = 1538.073261; finalDepth = 1536.987682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.149549 # Actual altitude: 50 # Commanded vehicle depth:1538.073261 # Seafloor depth:-1583.222810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.625226 meters # Minimum depth: 1581.445432 meters looking forward 100.000000 meters along route # Maximum depth: 1583.569475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.445432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968015; longitude = -130.032042; captureRadius = 10; duration = 109; initialDepth = 1536.445432; finalDepth = 1538.073261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.837845 # Actual altitude: 50 # Commanded vehicle depth:1536.445432 # Seafloor depth:-1583.283277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 107.465731 meters # Minimum depth: 1579.544567 meters looking forward 100.000000 meters along route # Maximum depth: 1581.617650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.544567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967115; longitude = -130.031462; captureRadius = 10; duration = 107; initialDepth = 1534.544567; finalDepth = 1536.445432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.073083 # Actual altitude: 50 # Commanded vehicle depth:1534.544567 # Seafloor depth:-1581.617650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.822955 meters # Minimum depth: 1579.829992 meters looking forward 100.000000 meters along route # Maximum depth: 1580.195378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.829992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966233; longitude = -130.030894; captureRadius = 10; duration = 100; initialDepth = 1534.829992; finalDepth = 1534.544567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.073083 # Actual altitude: 50 # Commanded vehicle depth:1534.829992 # Seafloor depth:-1579.829992 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.626021 meters # Minimum depth: 1579.494015 meters looking forward 100.000000 meters along route # Maximum depth: 1579.876967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.494015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965405; longitude = -130.030362; captureRadius = 10; duration = 109; initialDepth = 1534.494015; finalDepth = 1534.829992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3014459999999 # Actual altitude: 50 # Commanded vehicle depth:1534.494015 # Seafloor depth:-1579.795461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 107.062822 meters # Minimum depth: 1578.441143 meters looking forward 100.000000 meters along route # Maximum depth: 1579.760103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.441143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964505; longitude = -130.029782; captureRadius = 10; duration = 107; initialDepth = 1533.441143; finalDepth = 1534.494015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3189600000001 # Actual altitude: 50 # Commanded vehicle depth:1533.441143 # Seafloor depth:-1579.760103 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.227373 meters # Minimum depth: 1576.822673 meters looking forward 100.000000 meters along route # Maximum depth: 1578.488692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.822673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963626; longitude = -130.029216; captureRadius = 10; duration = 101; initialDepth = 1531.822673; finalDepth = 1533.441143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.649216 # Actual altitude: 50 # Commanded vehicle depth:1531.822673 # Seafloor depth:-1578.471889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.626815 meters # Minimum depth: 1571.385045 meters looking forward 100.000000 meters along route # Maximum depth: 1576.797932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.385045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962795; longitude = -130.028681; captureRadius = 10; duration = 109; initialDepth = 1526.385045; finalDepth = 1531.822673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.412887 # Actual altitude: 50.412887 # Commanded vehicle depth:1526.385045 # Seafloor depth:-1576.797932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.659907 meters # Minimum depth: 1566.663583 meters looking forward 100.000000 meters along route # Maximum depth: 1570.633508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.663583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961895; longitude = -130.028102; captureRadius = 10; duration = 106; initialDepth = 1521.663583; finalDepth = 1526.385045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.412887 # Actual altitude: 50.412887 # Commanded vehicle depth:1521.663583 # Seafloor depth:-1570.633508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.631798 meters # Minimum depth: 1564.223047 meters looking forward 100.000000 meters along route # Maximum depth: 1566.585161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.223047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961019; longitude = -130.027538; captureRadius = 10; duration = 101; initialDepth = 1519.223047; finalDepth = 1521.663583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9699249999999 # Actual altitude: 50 # Commanded vehicle depth:1519.223047 # Seafloor depth:-1566.585161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.627610 meters # Minimum depth: 1563.763400 meters looking forward 100.000000 meters along route # Maximum depth: 1567.507944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.763400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960184; longitude = -130.027001; captureRadius = 10; duration = 109; initialDepth = 1518.763400; finalDepth = 1519.223047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.362114 # Actual altitude: 50 # Commanded vehicle depth:1518.7634 # Seafloor depth:-1564.091967 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.256986 meters # Minimum depth: 1567.849364 meters looking forward 100.000000 meters along route # Maximum depth: 1569.694554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.849364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959284; longitude = -130.026422; captureRadius = 10; duration = 106; initialDepth = 1522.849364; finalDepth = 1518.763400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.798221 # Actual altitude: 50 # Commanded vehicle depth:1522.849364 # Seafloor depth:-1568.647585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.456552 meters # Minimum depth: 1567.879048 meters looking forward 100.000000 meters along route # Maximum depth: 1572.179795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.879048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958412; longitude = -130.025860; captureRadius = 10; duration = 101; initialDepth = 1522.879048; finalDepth = 1522.849364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.798221 # Actual altitude: 50 # Commanded vehicle depth:1522.879048 # Seafloor depth:-1567.879048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 61.391697 meters # Minimum depth: 1567.513729 meters looking forward 100.000000 meters along route # Maximum depth: 1572.610535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.513729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957579; longitude = -130.025324; captureRadius = 10; duration = 61; # abortOnTimeout = True; initialDepth = 1522.513729; finalDepth = 1522.879048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.096806 # Actual altitude: 50.096806 # Commanded vehicle depth:1522.513729 # Seafloor depth:-1572.610535 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.073662 meters # Minimum depth: 1566.274794 meters looking forward 100.000000 meters along route # Maximum depth: 1567.340968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.274794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957394; longitude = -130.026071; captureRadius = 10; duration = 103; initialDepth = 1521.274794; finalDepth = 1522.513729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.096806 # Actual altitude: 50.096806 # Commanded vehicle depth:1521.274794 # Seafloor depth:-1567.340968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 70.405889 meters # Minimum depth: 1566.300428 meters looking forward 100.000000 meters along route # Maximum depth: 1567.935365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.300428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957084; longitude = -130.027324; captureRadius = 10; duration = 70; # abortOnTimeout = True; initialDepth = 1521.300428; finalDepth = 1521.274794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.066174 # Actual altitude: 50 # Commanded vehicle depth:1521.300428 # Seafloor depth:-1566.775940 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.212666 meters # Minimum depth: 1568.305534 meters looking forward 100.000000 meters along route # Maximum depth: 1571.308717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.305534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957664; longitude = -130.027689; captureRadius = 10; duration = 109; initialDepth = 1523.305534; finalDepth = 1521.300428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.475512 # Actual altitude: 50 # Commanded vehicle depth:1523.305534 # Seafloor depth:-1568.305534 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.212404 meters # Minimum depth: 1570.410559 meters looking forward 100.000000 meters along route # Maximum depth: 1571.785502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.410559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958564; longitude = -130.028255; captureRadius = 10; duration = 109; initialDepth = 1525.410559; finalDepth = 1523.305534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0401750000001 # Actual altitude: 50 # Commanded vehicle depth:1525.410559 # Seafloor depth:-1570.450734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.097331 meters # Minimum depth: 1569.511765 meters looking forward 100.000000 meters along route # Maximum depth: 1572.245833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.511765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959464; longitude = -130.028821; captureRadius = 10; duration = 101; initialDepth = 1524.511765; finalDepth = 1525.410559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.734068 # Actual altitude: 50 # Commanded vehicle depth:1524.511765 # Seafloor depth:-1572.245833 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 106.405515 meters # Minimum depth: 1566.331251 meters looking forward 100.000000 meters along route # Maximum depth: 1569.501713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.331251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960298; longitude = -130.029345; captureRadius = 10; duration = 106; initialDepth = 1521.331251; finalDepth = 1524.511765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.170462 # Actual altitude: 50 # Commanded vehicle depth:1521.331251 # Seafloor depth:-1569.501713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 109.211645 meters # Minimum depth: 1566.505243 meters looking forward 100.000000 meters along route # Maximum depth: 1566.952492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.505243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961175; longitude = -130.029897; captureRadius = 10; duration = 109; initialDepth = 1521.505243; finalDepth = 1521.331251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.170462 # Actual altitude: 50 # Commanded vehicle depth:1521.505243 # Seafloor depth:-1566.680721 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 107.792888 meters # Minimum depth: 1567.185219 meters looking forward 100.000000 meters along route # Maximum depth: 1569.389629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.185219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962075; longitude = -130.030463; captureRadius = 10; duration = 107; initialDepth = 1522.185219; finalDepth = 1521.505243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1754779999999 # Actual altitude: 50 # Commanded vehicle depth:1522.185219 # Seafloor depth:-1567.185219 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 84.292044 meters # Minimum depth: 1569.389629 meters looking forward 100.000000 meters along route # Maximum depth: 1573.326389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.389629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962963; longitude = -130.031022; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1524.389629; finalDepth = 1522.185219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.174702 # Actual altitude: 50 # Commanded vehicle depth:1524.389629 # Seafloor depth:-1569.564331 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.795270 meters # Minimum depth: 1573.649755 meters looking forward 100.000000 meters along route # Maximum depth: 1577.634945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.649755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963695; longitude = -130.031309; captureRadius = 10; duration = 105; initialDepth = 1528.649755; finalDepth = 1524.389629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.174702 # Actual altitude: 50 # Commanded vehicle depth:1528.649755 # Seafloor depth:-1573.649755 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.993353 meters # Minimum depth: 1576.732150 meters looking forward 100.000000 meters along route # Maximum depth: 1578.882231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.732150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964613; longitude = -130.031669; captureRadius = 10; duration = 106; initialDepth = 1531.732150; finalDepth = 1528.649755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9101699999999 # Actual altitude: 50 # Commanded vehicle depth:1531.73215 # Seafloor depth:-1577.642320 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 51.215989 meters # Minimum depth: 1577.021476 meters looking forward 100.000000 meters along route # Maximum depth: 1579.871378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.021476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965542; longitude = -130.032033; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 1532.021476; finalDepth = 1531.732150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9244160000001 # Actual altitude: 50 # Commanded vehicle depth:1532.021476 # Seafloor depth:-1578.945892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.964461 meters # Minimum depth: 1579.501837 meters looking forward 100.000000 meters along route # Maximum depth: 1580.214200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.501837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965945; longitude = -130.032354; captureRadius = 10; duration = 102; initialDepth = 1534.501837; finalDepth = 1532.021476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9244160000001 # Actual altitude: 50 # Commanded vehicle depth:1534.501837 # Seafloor depth:-1580.011696 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 103.209045 meters # Minimum depth: 1580.394683 meters looking forward 100.000000 meters along route # Maximum depth: 1582.129813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.394683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966755; longitude = -130.032999; captureRadius = 10; duration = 103; initialDepth = 1535.394683; finalDepth = 1534.501837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.509859 # Actual altitude: 50 # Commanded vehicle depth:1535.394683 # Seafloor depth:-1580.394683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 71.839775 meters # Minimum depth: 1581.054083 meters looking forward 100.000000 meters along route # Maximum depth: 1582.883737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.054083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967567; longitude = -130.033646; captureRadius = 10; duration = 71; # abortOnTimeout = True; initialDepth = 1536.054083; finalDepth = 1535.394683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.595331 # Actual altitude: 50 # Commanded vehicle depth:1536.054083 # Seafloor depth:-1581.649414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.943017 meters # Minimum depth: 1580.289528 meters looking forward 100.000000 meters along route # Maximum depth: 1581.458530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.289528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968195; longitude = -130.033866; captureRadius = 10; duration = 102; initialDepth = 1535.289528; finalDepth = 1536.054083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.70083 # Actual altitude: 50 # Commanded vehicle depth:1535.289528 # Seafloor depth:-1580.990358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 106.456940 meters # Minimum depth: 1578.815739 meters looking forward 100.000000 meters along route # Maximum depth: 1583.063314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.815739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969095; longitude = -130.034180; captureRadius = 10; duration = 106; initialDepth = 1533.815739; finalDepth = 1535.289528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4987630000001 # Actual altitude: 50 # Commanded vehicle depth:1533.815739 # Seafloor depth:-1582.314502 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 85.627084 meters # Minimum depth: 1576.846455 meters looking forward 100.000000 meters along route # Maximum depth: 1581.735535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.846455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970026; longitude = -130.034506; captureRadius = 10; duration = 85; # abortOnTimeout = True; initialDepth = 1531.846455; finalDepth = 1533.815739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.06187 # Actual altitude: 50 # Commanded vehicle depth:1531.846455 # Seafloor depth:-1580.908325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.697916 meters # Minimum depth: 1576.140243 meters looking forward 100.000000 meters along route # Maximum depth: 1577.149493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.140243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970715; longitude = -130.035000; captureRadius = 10; duration = 100; initialDepth = 1531.140243; finalDepth = 1531.846455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.06187 # Actual altitude: 50 # Commanded vehicle depth:1531.140243 # Seafloor depth:-1576.140243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 92.661431 meters # Minimum depth: 1576.739208 meters looking forward 100.000000 meters along route # Maximum depth: 1577.610135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.739208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971526; longitude = -130.035581; captureRadius = 10; duration = 92; # abortOnTimeout = True; initialDepth = 1531.739208; finalDepth = 1531.140243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1139410000001 # Actual altitude: 50 # Commanded vehicle depth:1531.739208 # Seafloor depth:-1576.853149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.367945 meters # Minimum depth: 1576.495334 meters looking forward 100.000000 meters along route # Maximum depth: 1577.372459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.495334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972335; longitude = -130.035868; captureRadius = 10; duration = 101; initialDepth = 1531.495334; finalDepth = 1531.739208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3688670000001 # Actual altitude: 50 # Commanded vehicle depth:1531.495334 # Seafloor depth:-1576.864201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 99.827014 meters # Minimum depth: 1576.783433 meters looking forward 100.000000 meters along route # Maximum depth: 1579.044106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.783433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973221; longitude = -130.036183; captureRadius = 10; duration = 99; # abortOnTimeout = True; initialDepth = 1531.783433; finalDepth = 1531.495334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3688670000001 # Actual altitude: 50 # Commanded vehicle depth:1531.783433 # Seafloor depth:-1576.999390 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.615312 meters # Minimum depth: 1575.764895 meters looking forward 100.000000 meters along route # Maximum depth: 1577.103297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.764895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974046; longitude = -130.036694; captureRadius = 10; duration = 101; initialDepth = 1530.764895; finalDepth = 1531.783433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9556829999999 # Actual altitude: 50 # Commanded vehicle depth:1530.764895 # Seafloor depth:-1576.720578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 36.834140 meters # Minimum depth: 1576.045593 meters looking forward 100.000000 meters along route # Maximum depth: 1577.103297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.045593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974885; longitude = -130.037215; captureRadius = 10; duration = 36; # abortOnTimeout = True; initialDepth = 1531.045593; finalDepth = 1530.764895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9556829999999 # Actual altitude: 50 # Commanded vehicle depth:1531.045593 # Seafloor depth:-1576.774048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.515188 meters # Minimum depth: 1575.327858 meters looking forward 100.000000 meters along route # Maximum depth: 1577.192255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.327858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975216; longitude = -130.037182; captureRadius = 10; duration = 108; initialDepth = 1530.327858; finalDepth = 1531.045593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7284549999999 # Actual altitude: 50 # Commanded vehicle depth:1530.327858 # Seafloor depth:-1575.855161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 51.760859 meters # Minimum depth: 1576.308419 meters looking forward 100.000000 meters along route # Maximum depth: 1577.369647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.308419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976190; longitude = -130.037086; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 1531.308419; finalDepth = 1530.327858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0276410000001 # Actual altitude: 50 # Commanded vehicle depth:1531.308419 # Seafloor depth:-1577.336060 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 103.244880 meters # Minimum depth: 1576.479531 meters looking forward 100.000000 meters along route # Maximum depth: 1578.068738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.479531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976656; longitude = -130.037086; captureRadius = 10; duration = 103; initialDepth = 1531.479531; finalDepth = 1531.308419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0276410000001 # Actual altitude: 50 # Commanded vehicle depth:1531.479531 # Seafloor depth:-1577.453623 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 6.884468 meters # Minimum depth: 1576.479531 meters looking forward 100.000000 meters along route # Maximum depth: 1578.144867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.479531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977585; longitude = -130.037086; captureRadius = 10; duration = 6; # abortOnTimeout = True; initialDepth = 1531.479531; finalDepth = 1531.479531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.665336 # Actual altitude: 50 # Commanded vehicle depth:1531.479531 # Seafloor depth:-1578.144867 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.727625 meters # Minimum depth: 1577.241865 meters looking forward 100.000000 meters along route # Maximum depth: 1578.129006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.241865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977646; longitude = -130.037070; captureRadius = 10; duration = 101; initialDepth = 1532.241865; finalDepth = 1531.479531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.665336 # Actual altitude: 50 # Commanded vehicle depth:1532.241865 # Seafloor depth:-1578.129006 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.971009 meters # Minimum depth: 1578.121258 meters looking forward 100.000000 meters along route # Maximum depth: 1580.463001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.121258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978546; longitude = -130.036830; captureRadius = 10; duration = 109; initialDepth = 1533.121258; finalDepth = 1532.241865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8871409999999 # Actual altitude: 50 # Commanded vehicle depth:1533.121258 # Seafloor depth:-1578.121258 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 1.903125 meters # Minimum depth: 1579.114151 meters looking forward 100.000000 meters along route # Maximum depth: 1580.463001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.114151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979519; longitude = -130.036570; captureRadius = 10; duration = 1; # abortOnTimeout = True; initialDepth = 1534.114151; finalDepth = 1533.121258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.858078 # Actual altitude: 50 # Commanded vehicle depth:1534.114151 # Seafloor depth:-1579.972229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.345971 meters # Minimum depth: 1577.386717 meters looking forward 100.000000 meters along route # Maximum depth: 1579.667882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.386717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979536; longitude = -130.036568; captureRadius = 10; duration = 100; initialDepth = 1532.386717; finalDepth = 1534.114151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2811649999999 # Actual altitude: 50 # Commanded vehicle depth:1532.386717 # Seafloor depth:-1579.667882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.345974 meters # Minimum depth: 1577.866683 meters looking forward 100.000000 meters along route # Maximum depth: 1578.265616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.866683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980436; longitude = -130.036462; captureRadius = 10; duration = 100; initialDepth = 1532.866683; finalDepth = 1532.386717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2811649999999 # Actual altitude: 50 # Commanded vehicle depth:1532.866683 # Seafloor depth:-1578.059518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 103.434652 meters # Minimum depth: 1576.774321 meters looking forward 100.000000 meters along route # Maximum depth: 1577.830241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.774321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981336; longitude = -130.036357; captureRadius = 10; duration = 103; initialDepth = 1531.774321; finalDepth = 1532.866683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0559199999998 # Actual altitude: 50 # Commanded vehicle depth:1531.774321 # Seafloor depth:-1577.830241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 37.256141 meters # Minimum depth: 1576.568293 meters looking forward 100.000000 meters along route # Maximum depth: 1577.344186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.568293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982264; longitude = -130.036248; captureRadius = 10; duration = 37; # abortOnTimeout = True; initialDepth = 1531.568293; finalDepth = 1531.774321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0559199999998 # Actual altitude: 50 # Commanded vehicle depth:1531.568293 # Seafloor depth:-1577.266083 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.905050 meters # Minimum depth: 1576.480475 meters looking forward 100.000000 meters along route # Maximum depth: 1577.514472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.480475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982596; longitude = -130.036184; captureRadius = 10; duration = 100; initialDepth = 1531.480475; finalDepth = 1531.568293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6977899999999 # Actual altitude: 50 # Commanded vehicle depth:1531.480475 # Seafloor depth:-1576.542004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.515412 meters # Minimum depth: 1577.870537 meters looking forward 100.000000 meters along route # Maximum depth: 1579.509985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.870537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983496; longitude = -130.036011; captureRadius = 10; duration = 100; initialDepth = 1532.870537; finalDepth = 1531.480475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0615289999998 # Actual altitude: 50 # Commanded vehicle depth:1532.870537 # Seafloor depth:-1577.870537 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 21.856480 meters # Minimum depth: 1577.867188 meters looking forward 100.000000 meters along route # Maximum depth: 1579.509985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.867188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984393; longitude = -130.035839; captureRadius = 10; duration = 21; # abortOnTimeout = True; initialDepth = 1532.867188; finalDepth = 1532.870537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1532.867188 # Seafloor depth:-1577.867188 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.212384 meters # Minimum depth: 1577.395326 meters looking forward 100.000000 meters along route # Maximum depth: 1578.620547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.395326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984576; longitude = -130.035737; captureRadius = 10; duration = 107; initialDepth = 1532.395326; finalDepth = 1532.867188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0746489999999 # Actual altitude: 50 # Commanded vehicle depth:1532.395326 # Seafloor depth:-1578.469975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 106.778538 meters # Minimum depth: 1576.613986 meters looking forward 100.000000 meters along route # Maximum depth: 1577.833679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.613986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985477; longitude = -130.035239; captureRadius = 10; duration = 106; initialDepth = 1531.613986; finalDepth = 1532.395326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0746489999999 # Actual altitude: 50 # Commanded vehicle depth:1531.613986 # Seafloor depth:-1577.251521 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 41.747455 meters # Minimum depth: 1576.613986 meters looking forward 100.000000 meters along route # Maximum depth: 1578.983692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.613986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986373; longitude = -130.034742; captureRadius = 10; duration = 41; # abortOnTimeout = True; initialDepth = 1531.613986; finalDepth = 1531.613986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6375349999998 # Actual altitude: 50 # Commanded vehicle depth:1531.613986 # Seafloor depth:-1576.999115 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.862007 meters # Minimum depth: 1577.433289 meters looking forward 100.000000 meters along route # Maximum depth: 1578.979616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.433289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986651; longitude = -130.034380; captureRadius = 10; duration = 106; initialDepth = 1532.433289; finalDepth = 1531.613986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.546327 # Actual altitude: 50 # Commanded vehicle depth:1532.433289 # Seafloor depth:-1578.979616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 62.198141 meters # Minimum depth: 1577.283330 meters looking forward 100.000000 meters along route # Maximum depth: 1577.720723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.283330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987363; longitude = -130.033452; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 1532.283330; finalDepth = 1532.433289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.546327 # Actual altitude: 50 # Commanded vehicle depth:1532.28333 # Seafloor depth:-1577.718964 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.739394 meters # Minimum depth: 1575.375407 meters looking forward 100.000000 meters along route # Maximum depth: 1577.169852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.375407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987562; longitude = -130.032702; captureRadius = 10; duration = 101; initialDepth = 1530.375407; finalDepth = 1532.283330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.794445 # Actual altitude: 50 # Commanded vehicle depth:1530.375407 # Seafloor depth:-1577.169852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 60.005340 meters # Minimum depth: 1572.821373 meters looking forward 100.000000 meters along route # Maximum depth: 1576.122122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.821373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987888; longitude = -130.031474; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 1527.821373; finalDepth = 1530.375407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.668312 # Actual altitude: 50 # Commanded vehicle depth:1527.821373 # Seafloor depth:-1575.489685 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.679494 meters # Minimum depth: 1572.809199 meters looking forward 100.000000 meters along route # Maximum depth: 1574.575527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.809199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988087; longitude = -130.030754; captureRadius = 10; duration = 108; initialDepth = 1527.809199; finalDepth = 1527.821373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.668312 # Actual altitude: 50 # Commanded vehicle depth:1527.809199 # Seafloor depth:-1572.809199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.216989 meters # Minimum depth: 1574.617785 meters looking forward 100.000000 meters along route # Maximum depth: 1575.526012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.617785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988447; longitude = -130.029449; captureRadius = 10; duration = 107; initialDepth = 1529.617785; finalDepth = 1527.809199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1529.617785 # Seafloor depth:-1574.617785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 8.319380 meters # Minimum depth: 1574.958860 meters looking forward 100.000000 meters along route # Maximum depth: 1575.842743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.958860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988802; longitude = -130.028162; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 1529.958860; finalDepth = 1529.617785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.883883 # Actual altitude: 50 # Commanded vehicle depth:1529.95886 # Seafloor depth:-1575.842743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.977143 meters # Minimum depth: 1575.711470 meters looking forward 100.000000 meters along route # Maximum depth: 1578.287768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.711470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988802; longitude = -130.028055; captureRadius = 10; duration = 109; initialDepth = 1530.711470; finalDepth = 1529.958860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.883883 # Actual altitude: 50 # Commanded vehicle depth:1530.71147 # Seafloor depth:-1575.711470 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 109.977119 meters # Minimum depth: 1578.358493 meters looking forward 100.000000 meters along route # Maximum depth: 1579.886617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.358493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988802; longitude = -130.026635; captureRadius = 10; duration = 109; initialDepth = 1533.358493; finalDepth = 1530.711470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1533.358493 # Seafloor depth:-1578.358493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 106.482316 meters # Minimum depth: 1580.167472 meters looking forward 100.000000 meters along route # Maximum depth: 1580.904272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.167472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988802; longitude = -130.025215; captureRadius = 10; duration = 106; initialDepth = 1535.167472; finalDepth = 1533.358493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1535.167472 # Seafloor depth:-1580.167472 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 76.403753 meters # Minimum depth: 1579.802544 meters looking forward 100.000000 meters along route # Maximum depth: 1580.533616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.802544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988802; longitude = -130.023840; captureRadius = 10; duration = 76; # abortOnTimeout = True; initialDepth = 1534.802544; finalDepth = 1535.167472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6688920000001 # Actual altitude: 50 # Commanded vehicle depth:1534.802544 # Seafloor depth:-1580.471436 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.128564 meters # Minimum depth: 1579.693012 meters looking forward 100.000000 meters along route # Maximum depth: 1582.095537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.693012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988177; longitude = -130.023429; captureRadius = 10; duration = 100; initialDepth = 1534.693012; finalDepth = 1534.802544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6688920000001 # Actual altitude: 50 # Commanded vehicle depth:1534.693012 # Seafloor depth:-1579.783806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.860139 meters # Minimum depth: 1580.135123 meters looking forward 100.000000 meters along route # Maximum depth: 1582.150389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.135123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987357; longitude = -130.022891; captureRadius = 10; duration = 108; initialDepth = 1535.135123; finalDepth = 1534.693012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.966379 # Actual altitude: 50 # Commanded vehicle depth:1535.135123 # Seafloor depth:-1582.101502 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.994468 meters # Minimum depth: 1579.529464 meters looking forward 100.000000 meters along route # Maximum depth: 1580.438461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.529464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986467; longitude = -130.022306; captureRadius = 10; duration = 109; initialDepth = 1534.529464; finalDepth = 1535.135123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.966379 # Actual altitude: 50 # Commanded vehicle depth:1534.529464 # Seafloor depth:-1579.739317 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.994753 meters # Minimum depth: 1579.338401 meters looking forward 100.000000 meters along route # Maximum depth: 1580.540944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.338401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985567; longitude = -130.021715; captureRadius = 10; duration = 109; initialDepth = 1534.338401; finalDepth = 1534.529464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8867869999999 # Actual altitude: 50 # Commanded vehicle depth:1534.338401 # Seafloor depth:-1580.225188 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.504200 meters # Minimum depth: 1579.523766 meters looking forward 100.000000 meters along route # Maximum depth: 1580.739366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.523766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984666; longitude = -130.021124; captureRadius = 10; duration = 103; initialDepth = 1534.523766; finalDepth = 1534.338401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8867869999999 # Actual altitude: 50 # Commanded vehicle depth:1534.523766 # Seafloor depth:-1579.523766 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.486615 meters # Minimum depth: 1580.316094 meters looking forward 100.000000 meters along route # Maximum depth: 1580.804808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.316094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983820; longitude = -130.020568; captureRadius = 10; duration = 105; initialDepth = 1535.316094; finalDepth = 1534.523766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3417549999999 # Actual altitude: 50 # Commanded vehicle depth:1535.316094 # Seafloor depth:-1580.657849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.691816 meters # Minimum depth: 1579.758069 meters looking forward 100.000000 meters along route # Maximum depth: 1580.794844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.758069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982956; longitude = -130.020001; captureRadius = 10; duration = 110; initialDepth = 1534.758069; finalDepth = 1535.316094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.036775 # Actual altitude: 50 # Commanded vehicle depth:1534.758069 # Seafloor depth:-1580.794844 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.299627 meters # Minimum depth: 1579.640584 meters looking forward 100.000000 meters along route # Maximum depth: 1580.990437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.640584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982051; longitude = -130.019406; captureRadius = 10; duration = 109; initialDepth = 1534.640584; finalDepth = 1534.758069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.036775 # Actual altitude: 50 # Commanded vehicle depth:1534.640584 # Seafloor depth:-1579.747928 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.879905 meters # Minimum depth: 1580.539837 meters looking forward 100.000000 meters along route # Maximum depth: 1581.306678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.539837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981156; longitude = -130.018819; captureRadius = 10; duration = 106; initialDepth = 1535.539837; finalDepth = 1534.640584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5190669999999 # Actual altitude: 50 # Commanded vehicle depth:1535.539837 # Seafloor depth:-1581.058904 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.113022 meters # Minimum depth: 1580.594465 meters looking forward 100.000000 meters along route # Maximum depth: 1581.439264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.594465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980282; longitude = -130.018244; captureRadius = 10; duration = 102; initialDepth = 1535.594465; finalDepth = 1535.539837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5190669999999 # Actual altitude: 50 # Commanded vehicle depth:1535.594465 # Seafloor depth:-1580.594465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.996690 meters # Minimum depth: 1581.096831 meters looking forward 100.000000 meters along route # Maximum depth: 1581.551608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.096831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979446; longitude = -130.017696; captureRadius = 10; duration = 109; initialDepth = 1536.096831; finalDepth = 1535.594465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.414223 # Actual altitude: 50 # Commanded vehicle depth:1536.096831 # Seafloor depth:-1581.511054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.151555 meters # Minimum depth: 1581.593228 meters looking forward 100.000000 meters along route # Maximum depth: 1582.287922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.593228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978546; longitude = -130.017104; captureRadius = 10; duration = 100; initialDepth = 1536.593228; finalDepth = 1536.096831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.414223 # Actual altitude: 50 # Commanded vehicle depth:1536.593228 # Seafloor depth:-1581.642695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.842942 meters # Minimum depth: 1580.969456 meters looking forward 100.000000 meters along route # Maximum depth: 1581.983870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.969456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977726; longitude = -130.016566; captureRadius = 10; duration = 108; initialDepth = 1535.969456; finalDepth = 1536.593228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.847237 # Actual altitude: 50 # Commanded vehicle depth:1535.969456 # Seafloor depth:-1581.816693 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.339281 meters # Minimum depth: 1581.487750 meters looking forward 100.000000 meters along route # Maximum depth: 1583.571613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.487750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976836; longitude = -130.015981; captureRadius = 10; duration = 107; initialDepth = 1536.487750; finalDepth = 1535.969456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.847237 # Actual altitude: 50 # Commanded vehicle depth:1536.48775 # Seafloor depth:-1581.487750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.656245 meters # Minimum depth: 1581.280597 meters looking forward 100.000000 meters along route # Maximum depth: 1583.698424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.280597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975958; longitude = -130.015405; captureRadius = 10; duration = 101; initialDepth = 1536.280597; finalDepth = 1536.487750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.391392 # Actual altitude: 50 # Commanded vehicle depth:1536.280597 # Seafloor depth:-1583.671989 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.998059 meters # Minimum depth: 1581.083874 meters looking forward 100.000000 meters along route # Maximum depth: 1581.865375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.083874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975126; longitude = -130.014858; captureRadius = 10; duration = 109; initialDepth = 1536.083874; finalDepth = 1536.280597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.391392 # Actual altitude: 50 # Commanded vehicle depth:1536.083874 # Seafloor depth:-1581.274991 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.610851 meters # Minimum depth: 1570.460898 meters looking forward 100.000000 meters along route # Maximum depth: 1581.531902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.460898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974226; longitude = -130.014267; captureRadius = 10; duration = 100; initialDepth = 1525.460898; finalDepth = 1536.083874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0710039999999 # Actual altitude: 56.0710039999999 # Commanded vehicle depth:1525.460898 # Seafloor depth:-1581.531902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 224.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.386246 meters # Minimum depth: 1569.057807 meters looking forward 100.000000 meters along route # Maximum depth: 1572.425671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.057807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973402; longitude = -130.013726; captureRadius = 10; duration = 108; initialDepth = 1524.057807; finalDepth = 1525.460898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0710039999999 # Actual altitude: 56.0710039999999 # Commanded vehicle depth:1524.057807 # Seafloor depth:-1570.313493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 224.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.260522 meters # Minimum depth: 1556.638999 meters looking forward 100.000000 meters along route # Maximum depth: 1566.340693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.638999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972515; longitude = -130.013144; captureRadius = 10; duration = 106; initialDepth = 1511.638999; finalDepth = 1524.057807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7016940000001 # Actual altitude: 54.7016940000001 # Commanded vehicle depth:1511.638999 # Seafloor depth:-1566.340693 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 54.7016940000001 # Actual altitude: 54.7016940000001 # Commanded vehicle depth:1511.251953 # Seafloor depth:-1556.251953 # behavior reson { duration = 6; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 218.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1556.251953 meters looking forward 100.000000 meters along route # Maximum depth: 1563.921365 meters looking forward 100.000000 meters along route # Vehicle depth: 1511.251953 meters behavior waypoint { latitude = 45.971646; longitude = -130.012573; captureRadius = 10; duration = 500; depth = 1511.251953; speed = 1.500000; } # # Zero speed setpoint to allow final nav updates over acoustic modem behavior setpoint { duration = 180; heading = 270.0; speed = 0.0; verticalMode = pitch; pitch = 0; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1511.251953 meters set by local depth and desired altitude behavior descend { duration = 4478; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1556.251953 meters looking forward 100.000000 meters along route # Maximum depth: 1563.921365 meters looking forward 100.000000 meters along route # Vehicle depth: 300.000000 meters behavior waypoint { latitude = 45.971646; longitude = -130.012573; captureRadius = 10; duration = 500; depth = 300.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 336.131226; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 336.131226; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_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 = 180.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.00; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 135.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################