# 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_2v6.rte # Mission File: MAUV_Axial_2v6.cfg # Distance: 38952.942386 (m) # Estimated Time: 29326 (s) 8.146 (hr) # Abort Time: 31500 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1829 (s) # Way Points: 34 # Route Points: 384 # 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: 1575 (m) # Abort Vehicle Depth: 1590 (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 -130.008745 45.954474 -1534.049652 0.000000 3 # 1 -130.025991 45.954909 -1550.896606 1337.463093 1 # 2 -130.026700 45.953649 -1551.008240 1487.864639 1 # 3 -130.026872 45.952315 -1552.410034 1636.689740 1 # 4 -130.025969 45.950740 -1551.526825 1825.171039 1 # 5 -130.025259 45.949030 -1559.125214 2022.985605 1 # 6 -130.023926 45.947306 -1557.284576 2240.634639 1 # 7 -130.022873 45.945521 -1553.332306 2455.111839 1 # 8 -130.021733 45.943886 -1547.201752 2657.135428 1 # 9 -130.020701 45.941727 -1547.737640 2910.018329 1 # 10 -130.019282 45.939657 -1550.511902 3164.976119 1 # 11 -130.017669 45.937633 -1551.474823 3422.297468 1 # 12 -130.016422 45.935983 -1550.568207 3629.563125 1 # 13 -130.015454 45.934948 -1548.026306 3766.886837 1 # 14 -130.014379 45.935248 -1549.532776 3856.649213 1 # 15 -130.028329 45.956871 -1567.591888 6491.388277 4 # 16 -130.026328 45.957497 -1567.399048 6661.347424 3 # 17 -130.005842 45.925860 -1545.315399 10518.733165 1 # 18 -130.001584 45.922711 -1543.881226 10999.822770 4 # 19 -129.999391 45.922846 -1544.163208 11170.540779 1 # 20 -130.003799 45.926340 -1546.498108 11687.800520 1 # 21 -130.024326 45.958124 -1571.755615 15561.374606 4 # 22 -130.022325 45.958750 -1569.213074 15731.330466 3 # 23 -130.001778 45.926760 -1542.627502 19626.411678 1 # 24 -129.997026 45.923011 -1537.320099 20182.564652 3 # 25 -130.020324 45.959377 -1570.088135 24608.592420 4 # 26 -130.018322 45.960003 -1552.343750 24778.615704 3 # 27 -129.994617 45.922936 -1531.765717 29288.624986 4 # 28 -129.992445 45.923190 -1525.964050 29459.401435 3 # 29 -130.016321 45.960629 -1559.593567 34012.554939 4 # 30 -130.014181 45.961419 -1554.765472 34200.188515 3 # 31 -129.997513 45.935867 -1541.221893 37319.496492 1 # 32 -129.982970 45.930031 -1523.017975 38620.205506 4 # 33 -129.978679 45.930073 -1524.904938 38952.942386 1 # # A total of 384 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 31500; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1575.000000; abortDepth = 1590.000000; 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 = 1829; 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 33 # Segment length 25.153500 meters # Minimum depth: 1524.233440 meters looking forward 100.000000 meters along route # Maximum depth: 1524.904938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.233440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930073; longitude = -129.978679; captureRadius = 10; duration = 25; # abortOnTimeout = True; initialDepth = 1479.233440; finalDepth = 1479.233440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6714979999999 # Actual altitude: 50 # Commanded vehicle depth:1479.23344 # Seafloor depth:-1524.904938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.094074 meters # Minimum depth: 1514.643372 meters looking forward 100.000000 meters along route # Maximum depth: 1523.835339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.643372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930070; longitude = -129.979003; captureRadius = 10; duration = 100; initialDepth = 1469.643372; finalDepth = 1479.233440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.191967 # Actual altitude: 54.191967 # Commanded vehicle depth:1469.643372 # Seafloor depth:-1523.835339 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 216.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.094117 meters # Minimum depth: 1514.223145 meters looking forward 100.000000 meters along route # Maximum depth: 1517.921517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.223145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930057; longitude = -129.980294; captureRadius = 10; duration = 100; initialDepth = 1469.223145; finalDepth = 1469.643372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.191967 # Actual altitude: 54.191967 # Commanded vehicle depth:1469.223145 # Seafloor depth:-1514.424626 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 216.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 107.395189 meters # Minimum depth: 1518.722306 meters looking forward 100.000000 meters along route # Maximum depth: 1522.662825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.722306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930045; longitude = -129.981585; captureRadius = 10; duration = 107; initialDepth = 1473.722306; finalDepth = 1469.223145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2014810000001 # Actual altitude: 50 # Commanded vehicle depth:1473.722306 # Seafloor depth:-1518.722306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 80.456062 meters # Minimum depth: 1521.433158 meters looking forward 100.000000 meters along route # Maximum depth: 1523.028317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.433158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930031; longitude = -129.982970; captureRadius = 10; duration = 80; # abortOnTimeout = True; initialDepth = 1476.433158; finalDepth = 1473.722306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5848169999999 # Actual altitude: 50 # Commanded vehicle depth:1476.433158 # Seafloor depth:-1523.017975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.305982 meters # Minimum depth: 1518.881826 meters looking forward 100.000000 meters along route # Maximum depth: 1520.959186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.881826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930392; longitude = -129.983870; captureRadius = 10; duration = 100; initialDepth = 1473.881826; finalDepth = 1476.433158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.07736 # Actual altitude: 50 # Commanded vehicle depth:1473.881826 # Seafloor depth:-1520.959186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.305390 meters # Minimum depth: 1519.287899 meters looking forward 100.000000 meters along route # Maximum depth: 1523.047915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.287899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930842; longitude = -129.984991; captureRadius = 10; duration = 100; initialDepth = 1474.287899; finalDepth = 1473.881826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.07736 # Actual altitude: 50 # Commanded vehicle depth:1474.287899 # Seafloor depth:-1519.287899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.304799 meters # Minimum depth: 1522.477779 meters looking forward 100.000000 meters along route # Maximum depth: 1523.056503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.477779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931292; longitude = -129.986112; captureRadius = 10; duration = 100; initialDepth = 1477.477779; finalDepth = 1474.287899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.578724 # Actual altitude: 50 # Commanded vehicle depth:1477.477779 # Seafloor depth:-1523.056503 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.304208 meters # Minimum depth: 1521.480854 meters looking forward 100.000000 meters along route # Maximum depth: 1522.280003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.480854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931742; longitude = -129.987234; captureRadius = 10; duration = 100; initialDepth = 1476.480854; finalDepth = 1477.477779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7991490000002 # Actual altitude: 50 # Commanded vehicle depth:1476.480854 # Seafloor depth:-1522.280003 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.303616 meters # Minimum depth: 1521.936896 meters looking forward 100.000000 meters along route # Maximum depth: 1525.612988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.936896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932192; longitude = -129.988355; captureRadius = 10; duration = 100; initialDepth = 1476.936896; finalDepth = 1476.480854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7991490000002 # Actual altitude: 50 # Commanded vehicle depth:1476.936896 # Seafloor depth:-1521.936896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.303025 meters # Minimum depth: 1525.647409 meters looking forward 100.000000 meters along route # Maximum depth: 1526.435965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.647409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932642; longitude = -129.989477; captureRadius = 10; duration = 100; initialDepth = 1480.647409; finalDepth = 1476.936896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1480.647409 # Seafloor depth:-1525.647409 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.302434 meters # Minimum depth: 1525.959530 meters looking forward 100.000000 meters along route # Maximum depth: 1526.541534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.959530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933092; longitude = -129.990598; captureRadius = 10; duration = 100; initialDepth = 1480.959530; finalDepth = 1480.647409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0091739999998 # Actual altitude: 50 # Commanded vehicle depth:1480.95953 # Seafloor depth:-1525.968704 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.301842 meters # Minimum depth: 1526.710425 meters looking forward 100.000000 meters along route # Maximum depth: 1528.133673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.710425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933542; longitude = -129.991720; captureRadius = 10; duration = 100; initialDepth = 1481.710425; finalDepth = 1480.959530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0091739999998 # Actual altitude: 50 # Commanded vehicle depth:1481.710425 # Seafloor depth:-1526.710425 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.566867 meters # Minimum depth: 1528.157206 meters looking forward 100.000000 meters along route # Maximum depth: 1529.669205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.157206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933992; longitude = -129.992841; captureRadius = 10; duration = 101; initialDepth = 1483.157206; finalDepth = 1481.710425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1483.157206 # Seafloor depth:-1528.157206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.902240 meters # Minimum depth: 1529.675929 meters looking forward 100.000000 meters along route # Maximum depth: 1531.607787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.675929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934448; longitude = -129.993977; captureRadius = 10; duration = 103; initialDepth = 1484.675929; finalDepth = 1483.157206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1484.675929 # Seafloor depth:-1529.675929 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.901605 meters # Minimum depth: 1531.733427 meters looking forward 100.000000 meters along route # Maximum depth: 1534.616911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.733427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934914; longitude = -129.995139; captureRadius = 10; duration = 103; initialDepth = 1486.733427; finalDepth = 1484.675929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1486.733427 # Seafloor depth:-1531.733427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.450944 meters # Minimum depth: 1535.097011 meters looking forward 100.000000 meters along route # Maximum depth: 1541.064761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.097011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935380; longitude = -129.996300; captureRadius = 10; duration = 108; initialDepth = 1490.097011; finalDepth = 1486.733427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1490.097011 # Seafloor depth:-1535.097011 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 1.884135 meters # Minimum depth: 1535.651685 meters looking forward 100.000000 meters along route # Maximum depth: 1541.221893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.651685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935867; longitude = -129.997513; captureRadius = 10; duration = 1; # abortOnTimeout = True; initialDepth = 1490.651685; finalDepth = 1490.097011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5702079999999 # Actual altitude: 50.5702079999999 # Commanded vehicle depth:1490.651685 # Seafloor depth:-1541.221893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.882179 meters # Minimum depth: 1541.327291 meters looking forward 100.000000 meters along route # Maximum depth: 1543.360969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.327291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935882; longitude = -129.997523; captureRadius = 10; duration = 109; initialDepth = 1496.327291; finalDepth = 1490.651685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5702079999999 # Actual altitude: 50.5702079999999 # Commanded vehicle depth:1496.327291 # Seafloor depth:-1541.327291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.28; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.881898 meters # Minimum depth: 1542.130600 meters looking forward 100.000000 meters along route # Maximum depth: 1542.492565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.130600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936783; longitude = -129.998110; captureRadius = 10; duration = 109; initialDepth = 1497.130600; finalDepth = 1496.327291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0974270000002 # Actual altitude: 50 # Commanded vehicle depth:1497.1306 # Seafloor depth:-1542.228027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.881615 meters # Minimum depth: 1542.047965 meters looking forward 100.000000 meters along route # Maximum depth: 1542.503178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.047965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937683; longitude = -129.998697; captureRadius = 10; duration = 109; initialDepth = 1497.047965; finalDepth = 1497.130600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2570250000001 # Actual altitude: 50 # Commanded vehicle depth:1497.047965 # Seafloor depth:-1542.304990 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.881335 meters # Minimum depth: 1542.513216 meters looking forward 100.000000 meters along route # Maximum depth: 1542.750396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.513216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938583; longitude = -129.999284; captureRadius = 10; duration = 109; initialDepth = 1497.513216; finalDepth = 1497.047965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2570250000001 # Actual altitude: 50 # Commanded vehicle depth:1497.513216 # Seafloor depth:-1542.521076 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.692678 meters # Minimum depth: 1542.807913 meters looking forward 100.000000 meters along route # Maximum depth: 1544.929011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.807913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939483; longitude = -129.999872; captureRadius = 10; duration = 104; initialDepth = 1497.807913; finalDepth = 1497.513216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0078599999999 # Actual altitude: 50 # Commanded vehicle depth:1497.807913 # Seafloor depth:-1542.807913 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.081082 meters # Minimum depth: 1544.981420 meters looking forward 100.000000 meters along route # Maximum depth: 1546.118741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.981420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940340; longitude = -130.000431; captureRadius = 10; duration = 104; initialDepth = 1499.981420; finalDepth = 1497.807913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1499.98142 # Seafloor depth:-1544.981420 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.880519 meters # Minimum depth: 1544.783246 meters looking forward 100.000000 meters along route # Maximum depth: 1546.145506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.783246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941193; longitude = -130.000987; captureRadius = 10; duration = 109; initialDepth = 1499.783246; finalDepth = 1499.981420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3622600000001 # Actual altitude: 50 # Commanded vehicle depth:1499.783246 # Seafloor depth:-1546.145506 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.084130 meters # Minimum depth: 1546.099925 meters looking forward 100.000000 meters along route # Maximum depth: 1546.903831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.099925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942093; longitude = -130.001574; captureRadius = 10; duration = 100; initialDepth = 1501.099925; finalDepth = 1499.783246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3622600000001 # Actual altitude: 50 # Commanded vehicle depth:1501.099925 # Seafloor depth:-1546.099925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.688080 meters # Minimum depth: 1545.614195 meters looking forward 100.000000 meters along route # Maximum depth: 1546.791081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.614195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942913; longitude = -130.002109; captureRadius = 10; duration = 108; initialDepth = 1500.614195; finalDepth = 1501.099925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8855839999999 # Actual altitude: 50 # Commanded vehicle depth:1500.614195 # Seafloor depth:-1546.499779 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.879702 meters # Minimum depth: 1540.612251 meters looking forward 100.000000 meters along route # Maximum depth: 1546.073652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.612251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943803; longitude = -130.002690; captureRadius = 10; duration = 109; initialDepth = 1495.612251; finalDepth = 1500.614195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.461401 # Actual altitude: 50.461401 # Commanded vehicle depth:1495.612251 # Seafloor depth:-1546.073652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.879421 meters # Minimum depth: 1540.853620 meters looking forward 100.000000 meters along route # Maximum depth: 1541.792068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.853620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944703; longitude = -130.003277; captureRadius = 10; duration = 109; initialDepth = 1495.853620; finalDepth = 1495.612251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.461401 # Actual altitude: 50.461401 # Commanded vehicle depth:1495.85362 # Seafloor depth:-1541.560687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.381552 meters # Minimum depth: 1540.581424 meters looking forward 100.000000 meters along route # Maximum depth: 1541.406514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.581424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945603; longitude = -130.003864; captureRadius = 10; duration = 106; initialDepth = 1495.581424; finalDepth = 1495.853620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7070669999998 # Actual altitude: 50 # Commanded vehicle depth:1495.581424 # Seafloor depth:-1540.702941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.388573 meters # Minimum depth: 1540.403477 meters looking forward 100.000000 meters along route # Maximum depth: 1541.337083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.403477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946475; longitude = -130.004433; captureRadius = 10; duration = 102; initialDepth = 1495.403477; finalDepth = 1495.581424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.895456 # Actual altitude: 50 # Commanded vehicle depth:1495.403477 # Seafloor depth:-1541.298933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.878606 meters # Minimum depth: 1541.513439 meters looking forward 100.000000 meters along route # Maximum depth: 1542.301326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.513439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947313; longitude = -130.004980; captureRadius = 10; duration = 109; initialDepth = 1496.513439; finalDepth = 1495.403477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.895456 # Actual altitude: 50 # Commanded vehicle depth:1496.513439 # Seafloor depth:-1541.513439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.773071 meters # Minimum depth: 1540.459955 meters looking forward 100.000000 meters along route # Maximum depth: 1541.756121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.459955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948213; longitude = -130.005567; captureRadius = 10; duration = 101; initialDepth = 1495.459955; finalDepth = 1496.513439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.088328 # Actual altitude: 50 # Commanded vehicle depth:1495.459955 # Seafloor depth:-1541.548283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.995503 meters # Minimum depth: 1540.470504 meters looking forward 100.000000 meters along route # Maximum depth: 1542.870028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.470504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949047; longitude = -130.006111; captureRadius = 10; duration = 106; initialDepth = 1495.470504; finalDepth = 1495.459955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.088328 # Actual altitude: 50 # Commanded vehicle depth:1495.470504 # Seafloor depth:-1540.470504 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.415631 meters # Minimum depth: 1537.671663 meters looking forward 100.000000 meters along route # Maximum depth: 1541.055177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.671663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949924; longitude = -130.006682; captureRadius = 10; duration = 110; initialDepth = 1492.671663; finalDepth = 1495.470504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3835139999999 # Actual altitude: 50 # Commanded vehicle depth:1492.671663 # Seafloor depth:-1541.055177 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.339667 meters # Minimum depth: 1533.748157 meters looking forward 100.000000 meters along route # Maximum depth: 1537.643255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.748157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950828; longitude = -130.007272; captureRadius = 10; duration = 109; initialDepth = 1488.748157; finalDepth = 1492.671663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.895098 # Actual altitude: 50 # Commanded vehicle depth:1488.748157 # Seafloor depth:-1537.643255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.877226 meters # Minimum depth: 1533.007143 meters looking forward 100.000000 meters along route # Maximum depth: 1535.943343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.007143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951724; longitude = -130.007857; captureRadius = 10; duration = 109; initialDepth = 1488.007143; finalDepth = 1488.748157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.895098 # Actual altitude: 50 # Commanded vehicle depth:1488.007143 # Seafloor depth:-1533.429960 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.876945 meters # Minimum depth: 1535.973278 meters looking forward 100.000000 meters along route # Maximum depth: 1539.171017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.973278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952624; longitude = -130.008444; captureRadius = 10; duration = 109; initialDepth = 1490.973278; finalDepth = 1488.007143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4228169999999 # Actual altitude: 50 # Commanded vehicle depth:1490.973278 # Seafloor depth:-1535.973278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.725126 meters # Minimum depth: 1534.563082 meters looking forward 100.000000 meters along route # Maximum depth: 1538.812370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.563082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953524; longitude = -130.009031; captureRadius = 10; duration = 105; initialDepth = 1489.563082; finalDepth = 1490.973278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2492880000002 # Actual altitude: 50 # Commanded vehicle depth:1489.563082 # Seafloor depth:-1538.812370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.040295 meters # Minimum depth: 1534.390568 meters looking forward 100.000000 meters along route # Maximum depth: 1535.977149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.390568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954390; longitude = -130.009596; captureRadius = 10; duration = 103; initialDepth = 1489.390568; finalDepth = 1489.563082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2492880000002 # Actual altitude: 50 # Commanded vehicle depth:1489.390568 # Seafloor depth:-1534.645422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.876130 meters # Minimum depth: 1535.972049 meters looking forward 100.000000 meters along route # Maximum depth: 1537.255948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.972049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955234; longitude = -130.010146; captureRadius = 10; duration = 109; initialDepth = 1490.972049; finalDepth = 1489.390568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.254854 # Actual altitude: 50 # Commanded vehicle depth:1490.972049 # Seafloor depth:-1536.218764 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.116754 meters # Minimum depth: 1536.512648 meters looking forward 100.000000 meters along route # Maximum depth: 1538.564208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.512648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956134; longitude = -130.010734; captureRadius = 10; duration = 101; initialDepth = 1491.512648; finalDepth = 1490.972049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.246715 # Actual altitude: 50 # Commanded vehicle depth:1491.512648 # Seafloor depth:-1536.512648 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.647117 meters # Minimum depth: 1535.324847 meters looking forward 100.000000 meters along route # Maximum depth: 1536.840646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.324847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956962; longitude = -130.011274; captureRadius = 10; duration = 107; initialDepth = 1490.324847; finalDepth = 1491.512648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.515799 # Actual altitude: 50 # Commanded vehicle depth:1490.324847 # Seafloor depth:-1536.840646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.875313 meters # Minimum depth: 1536.070595 meters looking forward 100.000000 meters along route # Maximum depth: 1538.504558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.070595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957844; longitude = -130.011849; captureRadius = 10; duration = 109; initialDepth = 1491.070595; finalDepth = 1490.324847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.515799 # Actual altitude: 50 # Commanded vehicle depth:1491.070595 # Seafloor depth:-1536.070595 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.875033 meters # Minimum depth: 1538.505933 meters looking forward 100.000000 meters along route # Maximum depth: 1543.917632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.505933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958744; longitude = -130.012436; captureRadius = 10; duration = 109; initialDepth = 1493.505933; finalDepth = 1491.070595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1493.505933 # Seafloor depth:-1538.505933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.874751 meters # Minimum depth: 1541.257924 meters looking forward 100.000000 meters along route # Maximum depth: 1543.738456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.257924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959644; longitude = -130.013023; captureRadius = 10; duration = 109; initialDepth = 1496.257924; finalDepth = 1493.505933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3083859999999 # Actual altitude: 50 # Commanded vehicle depth:1496.257924 # Seafloor depth:-1543.566310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.753910 meters # Minimum depth: 1543.926051 meters looking forward 100.000000 meters along route # Maximum depth: 1554.134838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.926051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960544; longitude = -130.013611; captureRadius = 10; duration = 106; initialDepth = 1498.926051; finalDepth = 1496.257924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3083859999999 # Actual altitude: 50 # Commanded vehicle depth:1498.926051 # Seafloor depth:-1543.926051 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 84.643241 meters # Minimum depth: 1553.613829 meters looking forward 100.000000 meters along route # Maximum depth: 1554.960778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.613829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961419; longitude = -130.014181; captureRadius = 10; duration = 84; # abortOnTimeout = True; initialDepth = 1508.613829; finalDepth = 1498.926051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1516430000001 # Actual altitude: 50 # Commanded vehicle depth:1508.613829 # Seafloor depth:-1554.765472 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.990335 meters # Minimum depth: 1554.905127 meters looking forward 100.000000 meters along route # Maximum depth: 1560.791627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.905127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961063; longitude = -130.015146; captureRadius = 10; duration = 102; initialDepth = 1509.905127; finalDepth = 1508.613829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1516430000001 # Actual altitude: 50 # Commanded vehicle depth:1509.905127 # Seafloor depth:-1554.905127 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 65.006072 meters # Minimum depth: 1559.593567 meters looking forward 100.000000 meters along route # Maximum depth: 1560.990325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.593567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960629; longitude = -130.016321; captureRadius = 10; duration = 65; # abortOnTimeout = True; initialDepth = 1514.593567; finalDepth = 1509.905127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1514.593567 # Seafloor depth:-1559.593567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.754064 meters # Minimum depth: 1551.136614 meters looking forward 100.000000 meters along route # Maximum depth: 1560.659395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.136614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960094; longitude = -130.015980; captureRadius = 10; duration = 109; initialDepth = 1506.136614; finalDepth = 1514.593567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5227809999999 # Actual altitude: 54.5227809999999 # Commanded vehicle depth:1506.136614 # Seafloor depth:-1560.659395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.161297 meters # Minimum depth: 1546.098803 meters looking forward 100.000000 meters along route # Maximum depth: 1551.122366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.098803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959192; longitude = -130.015405; captureRadius = 10; duration = 109; initialDepth = 1501.098803; finalDepth = 1506.136614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5227809999999 # Actual altitude: 54.5227809999999 # Commanded vehicle depth:1501.098803 # Seafloor depth:-1551.122366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 109.458084 meters # Minimum depth: 1541.766118 meters looking forward 100.000000 meters along route # Maximum depth: 1545.637617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.766118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958294; longitude = -130.014832; captureRadius = 10; duration = 109; initialDepth = 1496.766118; finalDepth = 1501.098803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.023563 # Actual altitude: 50.023563 # Commanded vehicle depth:1496.766118 # Seafloor depth:-1545.637617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.374180 meters # Minimum depth: 1540.237136 meters looking forward 100.000000 meters along route # Maximum depth: 1541.185518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.237136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957394; longitude = -130.014258; captureRadius = 10; duration = 101; initialDepth = 1495.237136; finalDepth = 1496.766118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8714990000001 # Actual altitude: 50 # Commanded vehicle depth:1495.237136 # Seafloor depth:-1541.185518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.596920 meters # Minimum depth: 1537.369028 meters looking forward 100.000000 meters along route # Maximum depth: 1541.160306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.369028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956561; longitude = -130.013726; captureRadius = 10; duration = 106; initialDepth = 1492.369028; finalDepth = 1495.237136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.637291 # Actual altitude: 50 # Commanded vehicle depth:1492.369028 # Seafloor depth:-1541.006319 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.458864 meters # Minimum depth: 1535.631729 meters looking forward 100.000000 meters along route # Maximum depth: 1536.940052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.631729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955684; longitude = -130.013167; captureRadius = 10; duration = 109; initialDepth = 1490.631729; finalDepth = 1492.369028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.637291 # Actual altitude: 50 # Commanded vehicle depth:1490.631729 # Seafloor depth:-1536.940052 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.940077 meters # Minimum depth: 1535.106254 meters looking forward 100.000000 meters along route # Maximum depth: 1535.981737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.106254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954784; longitude = -130.012593; captureRadius = 10; duration = 103; initialDepth = 1490.106254; finalDepth = 1490.631729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.308323 # Actual altitude: 50 # Commanded vehicle depth:1490.106254 # Seafloor depth:-1535.371874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.032507 meters # Minimum depth: 1534.752295 meters looking forward 100.000000 meters along route # Maximum depth: 1535.914660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.752295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953929; longitude = -130.012048; captureRadius = 10; duration = 104; initialDepth = 1489.752295; finalDepth = 1490.106254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1623649999999 # Actual altitude: 50 # Commanded vehicle depth:1489.752295 # Seafloor depth:-1535.914660 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.459644 meters # Minimum depth: 1535.598078 meters looking forward 100.000000 meters along route # Maximum depth: 1536.562478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.598078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953074; longitude = -130.011503; captureRadius = 10; duration = 109; initialDepth = 1490.598078; finalDepth = 1489.752295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1623649999999 # Actual altitude: 50 # Commanded vehicle depth:1490.598078 # Seafloor depth:-1535.598078 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.506009 meters # Minimum depth: 1537.080439 meters looking forward 100.000000 meters along route # Maximum depth: 1538.995787 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.080439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952174; longitude = -130.010929; captureRadius = 10; duration = 106; initialDepth = 1492.080439; finalDepth = 1490.598078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1492.080439 # Seafloor depth:-1537.080439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.468058 meters # Minimum depth: 1539.392372 meters looking forward 100.000000 meters along route # Maximum depth: 1542.435308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.392372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951298; longitude = -130.010370; captureRadius = 10; duration = 101; initialDepth = 1494.392372; finalDepth = 1492.080439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1494.392372 # Seafloor depth:-1539.392372 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.460425 meters # Minimum depth: 1541.307038 meters looking forward 100.000000 meters along route # Maximum depth: 1544.761155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.307038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950464; longitude = -130.009838; captureRadius = 10; duration = 109; initialDepth = 1496.307038; finalDepth = 1494.392372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.682959 # Actual altitude: 50 # Commanded vehicle depth:1496.307038 # Seafloor depth:-1541.989997 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.460694 meters # Minimum depth: 1545.655221 meters looking forward 100.000000 meters along route # Maximum depth: 1547.620128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.655221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949564; longitude = -130.009264; captureRadius = 10; duration = 109; initialDepth = 1500.655221; finalDepth = 1496.307038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.682959 # Actual altitude: 50 # Commanded vehicle depth:1500.655221 # Seafloor depth:-1545.655221 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.460963 meters # Minimum depth: 1544.122946 meters looking forward 100.000000 meters along route # Maximum depth: 1546.796713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.122946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948663; longitude = -130.008690; captureRadius = 10; duration = 109; initialDepth = 1499.122946; finalDepth = 1500.655221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.673767 # Actual altitude: 50 # Commanded vehicle depth:1499.122946 # Seafloor depth:-1546.796713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.461233 meters # Minimum depth: 1543.441785 meters looking forward 100.000000 meters along route # Maximum depth: 1545.522239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.441785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947763; longitude = -130.008116; captureRadius = 10; duration = 109; initialDepth = 1498.441785; finalDepth = 1499.122946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.673767 # Actual altitude: 50 # Commanded vehicle depth:1498.441785 # Seafloor depth:-1543.710647 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.691849 meters # Minimum depth: 1544.711592 meters looking forward 100.000000 meters along route # Maximum depth: 1547.252086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.711592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946863; longitude = -130.007542; captureRadius = 10; duration = 100; initialDepth = 1499.711592; finalDepth = 1498.441785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2688620000001 # Actual altitude: 50 # Commanded vehicle depth:1499.711592 # Seafloor depth:-1544.762428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.285234 meters # Minimum depth: 1545.318144 meters looking forward 100.000000 meters along route # Maximum depth: 1547.801133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.318144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946035; longitude = -130.007014; captureRadius = 10; duration = 107; initialDepth = 1500.318144; finalDepth = 1499.711592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.969961 # Actual altitude: 50 # Commanded vehicle depth:1500.318144 # Seafloor depth:-1547.288105 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.462013 meters # Minimum depth: 1541.162001 meters looking forward 100.000000 meters along route # Maximum depth: 1544.800714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.162001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945153; longitude = -130.006452; captureRadius = 10; duration = 109; initialDepth = 1496.162001; finalDepth = 1500.318144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6387130000001 # Actual altitude: 50 # Commanded vehicle depth:1496.162001 # Seafloor depth:-1544.800714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.257814 meters # Minimum depth: 1540.896883 meters looking forward 100.000000 meters along route # Maximum depth: 1542.223859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.896883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944253; longitude = -130.005878; captureRadius = 10; duration = 103; initialDepth = 1495.896883; finalDepth = 1496.162001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6387130000001 # Actual altitude: 50 # Commanded vehicle depth:1495.896883 # Seafloor depth:-1541.545338 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.720753 meters # Minimum depth: 1539.966940 meters looking forward 100.000000 meters along route # Maximum depth: 1540.848972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.966940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943404; longitude = -130.005336; captureRadius = 10; duration = 104; initialDepth = 1494.966940; finalDepth = 1495.896883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.882032 # Actual altitude: 50 # Commanded vehicle depth:1494.96694 # Seafloor depth:-1540.848972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.462793 meters # Minimum depth: 1540.510292 meters looking forward 100.000000 meters along route # Maximum depth: 1541.486216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.510292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942543; longitude = -130.004787; captureRadius = 10; duration = 109; initialDepth = 1495.510292; finalDepth = 1494.966940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.882032 # Actual altitude: 50 # Commanded vehicle depth:1495.510292 # Seafloor depth:-1540.934948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.823816 meters # Minimum depth: 1539.637412 meters looking forward 100.000000 meters along route # Maximum depth: 1540.562921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.637412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941643; longitude = -130.004213; captureRadius = 10; duration = 105; initialDepth = 1494.637412; finalDepth = 1495.510292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9099059999999 # Actual altitude: 50 # Commanded vehicle depth:1494.637412 # Seafloor depth:-1540.547318 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.156234 meters # Minimum depth: 1540.757700 meters looking forward 100.000000 meters along route # Maximum depth: 1543.792125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.757700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940773; longitude = -130.003658; captureRadius = 10; duration = 102; initialDepth = 1495.757700; finalDepth = 1494.637412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9099059999999 # Actual altitude: 50 # Commanded vehicle depth:1495.7577 # Seafloor depth:-1540.757700 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.463574 meters # Minimum depth: 1543.303125 meters looking forward 100.000000 meters along route # Maximum depth: 1545.223334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.303125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939933; longitude = -130.003122; captureRadius = 10; duration = 109; initialDepth = 1498.303125; finalDepth = 1495.757700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5440880000001 # Actual altitude: 50 # Commanded vehicle depth:1498.303125 # Seafloor depth:-1543.847213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.463844 meters # Minimum depth: 1545.255161 meters looking forward 100.000000 meters along route # Maximum depth: 1546.140953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.255161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939033; longitude = -130.002548; captureRadius = 10; duration = 109; initialDepth = 1500.255161; finalDepth = 1498.303125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5440880000001 # Actual altitude: 50 # Commanded vehicle depth:1500.255161 # Seafloor depth:-1545.255161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.464112 meters # Minimum depth: 1544.959732 meters looking forward 100.000000 meters along route # Maximum depth: 1546.225719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.959732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938133; longitude = -130.001974; captureRadius = 10; duration = 109; initialDepth = 1499.959732; finalDepth = 1500.255161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9588059999999 # Actual altitude: 50 # Commanded vehicle depth:1499.959732 # Seafloor depth:-1545.918538 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.464382 meters # Minimum depth: 1544.443942 meters looking forward 100.000000 meters along route # Maximum depth: 1546.263237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.443942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937233; longitude = -130.001400; captureRadius = 10; duration = 109; initialDepth = 1499.443942; finalDepth = 1499.959732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8192949999998 # Actual altitude: 50 # Commanded vehicle depth:1499.443942 # Seafloor depth:-1546.263237 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.009479 meters # Minimum depth: 1543.376230 meters looking forward 100.000000 meters along route # Maximum depth: 1544.154252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.376230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936332; longitude = -130.000826; captureRadius = 10; duration = 100; initialDepth = 1498.376230; finalDepth = 1499.443942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8192949999998 # Actual altitude: 50 # Commanded vehicle depth:1498.37623 # Seafloor depth:-1544.154252 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.973588 meters # Minimum depth: 1541.067923 meters looking forward 100.000000 meters along route # Maximum depth: 1543.860216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.067923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935510; longitude = -130.000302; captureRadius = 10; duration = 107; initialDepth = 1496.067923; finalDepth = 1498.376230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3380379999999 # Actual altitude: 50 # Commanded vehicle depth:1496.067923 # Seafloor depth:-1543.405961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.465163 meters # Minimum depth: 1536.961582 meters looking forward 100.000000 meters along route # Maximum depth: 1540.474642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.961582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934622; longitude = -129.999736; captureRadius = 10; duration = 109; initialDepth = 1491.961582; finalDepth = 1496.067923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.51306 # Actual altitude: 50 # Commanded vehicle depth:1491.961582 # Seafloor depth:-1540.474642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.575512 meters # Minimum depth: 1534.855185 meters looking forward 100.000000 meters along route # Maximum depth: 1536.745716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.855185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933722; longitude = -129.999162; captureRadius = 10; duration = 102; initialDepth = 1489.855185; finalDepth = 1491.961582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.51306 # Actual altitude: 50 # Commanded vehicle depth:1489.855185 # Seafloor depth:-1536.745716 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.409038 meters # Minimum depth: 1534.770039 meters looking forward 100.000000 meters along route # Maximum depth: 1535.187599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.770039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932879; longitude = -129.998624; captureRadius = 10; duration = 105; initialDepth = 1489.770039; finalDepth = 1489.855185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.890531 # Actual altitude: 50 # Commanded vehicle depth:1489.770039 # Seafloor depth:-1534.805538 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.465944 meters # Minimum depth: 1532.665040 meters looking forward 100.000000 meters along route # Maximum depth: 1534.799354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.665040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932012; longitude = -129.998071; captureRadius = 10; duration = 109; initialDepth = 1487.665040; finalDepth = 1489.770039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1343139999999 # Actual altitude: 50 # Commanded vehicle depth:1487.66504 # Seafloor depth:-1534.799354 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.141583 meters # Minimum depth: 1532.577447 meters looking forward 100.000000 meters along route # Maximum depth: 1532.973110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.577447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931112; longitude = -129.997497; captureRadius = 10; duration = 105; initialDepth = 1487.577447; finalDepth = 1487.665040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1343139999999 # Actual altitude: 50 # Commanded vehicle depth:1487.577447 # Seafloor depth:-1532.643181 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.844451 meters # Minimum depth: 1533.093033 meters looking forward 100.000000 meters along route # Maximum depth: 1534.756186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.093033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930248; longitude = -129.996946; captureRadius = 10; duration = 102; initialDepth = 1488.093033; finalDepth = 1487.577447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.065734 # Actual altitude: 50 # Commanded vehicle depth:1488.093033 # Seafloor depth:-1533.093033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.466724 meters # Minimum depth: 1532.793348 meters looking forward 100.000000 meters along route # Maximum depth: 1534.764993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.793348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929402; longitude = -129.996407; captureRadius = 10; duration = 109; initialDepth = 1487.793348; finalDepth = 1488.093033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9716450000001 # Actual altitude: 50 # Commanded vehicle depth:1487.793348 # Seafloor depth:-1534.764993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.707690 meters # Minimum depth: 1532.554239 meters looking forward 100.000000 meters along route # Maximum depth: 1534.125637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.554239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928502; longitude = -129.995833; captureRadius = 10; duration = 107; initialDepth = 1487.554239; finalDepth = 1487.793348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9716450000001 # Actual altitude: 50 # Commanded vehicle depth:1487.554239 # Seafloor depth:-1532.775348 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.279827 meters # Minimum depth: 1530.069026 meters looking forward 100.000000 meters along route # Maximum depth: 1534.019767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.069026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927616; longitude = -129.995268; captureRadius = 10; duration = 100; initialDepth = 1485.069026; finalDepth = 1487.554239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9507410000001 # Actual altitude: 50 # Commanded vehicle depth:1485.069026 # Seafloor depth:-1534.019767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.467505 meters # Minimum depth: 1528.836696 meters looking forward 100.000000 meters along route # Maximum depth: 1530.013783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.836696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926792; longitude = -129.994742; captureRadius = 10; duration = 109; initialDepth = 1483.836696; finalDepth = 1485.069026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9507410000001 # Actual altitude: 50 # Commanded vehicle depth:1483.836696 # Seafloor depth:-1530.013783 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.273834 meters # Minimum depth: 1528.456832 meters looking forward 100.000000 meters along route # Maximum depth: 1529.952707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.456832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925892; longitude = -129.994168; captureRadius = 10; duration = 110; initialDepth = 1483.456832; finalDepth = 1483.836696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.177087 # Actual altitude: 50 # Commanded vehicle depth:1483.456832 # Seafloor depth:-1528.633547 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.661983 meters # Minimum depth: 1528.931879 meters looking forward 100.000000 meters along route # Maximum depth: 1530.408519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.931879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924985; longitude = -129.993590; captureRadius = 10; duration = 108; initialDepth = 1483.931879; finalDepth = 1483.456832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0325780000001 # Actual altitude: 50 # Commanded vehicle depth:1483.931879 # Seafloor depth:-1529.964457 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.635674 meters # Minimum depth: 1525.606017 meters looking forward 100.000000 meters along route # Maximum depth: 1528.874438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.606017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924091; longitude = -129.993020; captureRadius = 10; duration = 109; initialDepth = 1480.606017; finalDepth = 1483.931879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.268421 # Actual altitude: 50 # Commanded vehicle depth:1480.606017 # Seafloor depth:-1528.874438 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69.701978 meters # Minimum depth: 1525.650381 meters looking forward 100.000000 meters along route # Maximum depth: 1527.479094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.650381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923190; longitude = -129.992445; captureRadius = 10; duration = 69; # abortOnTimeout = True; initialDepth = 1480.650381; finalDepth = 1480.606017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.268421 # Actual altitude: 50 # Commanded vehicle depth:1480.650381 # Seafloor depth:-1525.964050 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.074471 meters # Minimum depth: 1528.083867 meters looking forward 100.000000 meters along route # Maximum depth: 1531.650602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.083867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923086; longitude = -129.993331; captureRadius = 10; duration = 101; initialDepth = 1483.083867; finalDepth = 1480.650381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3136690000001 # Actual altitude: 50 # Commanded vehicle depth:1483.083867 # Seafloor depth:-1528.083867 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 27 # Segment length 31.073642 meters # Minimum depth: 1530.624769 meters looking forward 100.000000 meters along route # Maximum depth: 1532.363477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.624769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922936; longitude = -129.994617; captureRadius = 10; duration = 31; # abortOnTimeout = True; initialDepth = 1485.624769; finalDepth = 1483.083867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.140948 # Actual altitude: 50 # Commanded vehicle depth:1485.624769 # Seafloor depth:-1531.765717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.519121 meters # Minimum depth: 1532.403500 meters looking forward 100.000000 meters along route # Maximum depth: 1533.201039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.403500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923191; longitude = -129.994780; captureRadius = 10; duration = 109; initialDepth = 1487.403500; finalDepth = 1485.624769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.140948 # Actual altitude: 50 # Commanded vehicle depth:1487.4035 # Seafloor depth:-1532.446651 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.017027 meters # Minimum depth: 1533.314424 meters looking forward 100.000000 meters along route # Maximum depth: 1534.952802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.314424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924091; longitude = -129.995356; captureRadius = 10; duration = 106; initialDepth = 1488.314424; finalDepth = 1487.403500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0431510000001 # Actual altitude: 50 # Commanded vehicle depth:1488.314424 # Seafloor depth:-1533.314424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.068559 meters # Minimum depth: 1535.044738 meters looking forward 100.000000 meters along route # Maximum depth: 1535.423803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.044738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924963; longitude = -129.995913; captureRadius = 10; duration = 102; initialDepth = 1490.044738; finalDepth = 1488.314424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1490.044738 # Seafloor depth:-1535.044738 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.518336 meters # Minimum depth: 1534.035458 meters looking forward 100.000000 meters along route # Maximum depth: 1535.308704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.035458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925802; longitude = -129.996450; captureRadius = 10; duration = 109; initialDepth = 1489.035458; finalDepth = 1490.044738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1410579999999 # Actual altitude: 50 # Commanded vehicle depth:1489.035458 # Seafloor depth:-1535.176516 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 107.688210 meters # Minimum depth: 1532.320009 meters looking forward 100.000000 meters along route # Maximum depth: 1533.666621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.320009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926702; longitude = -129.997025; captureRadius = 10; duration = 107; initialDepth = 1487.320009; finalDepth = 1489.035458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3466120000001 # Actual altitude: 50 # Commanded vehicle depth:1487.320009 # Seafloor depth:-1533.666621 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.395884 meters # Minimum depth: 1533.377675 meters looking forward 100.000000 meters along route # Maximum depth: 1534.834313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.377675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927587; longitude = -129.997591; captureRadius = 10; duration = 100; initialDepth = 1488.377675; finalDepth = 1487.320009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3466120000001 # Actual altitude: 50 # Commanded vehicle depth:1488.377675 # Seafloor depth:-1533.490619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.517552 meters # Minimum depth: 1534.053375 meters looking forward 100.000000 meters along route # Maximum depth: 1536.001967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.053375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928412; longitude = -129.998119; captureRadius = 10; duration = 109; initialDepth = 1489.053375; finalDepth = 1488.377675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.790859 # Actual altitude: 50 # Commanded vehicle depth:1489.053375 # Seafloor depth:-1534.844234 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.517281 meters # Minimum depth: 1536.160017 meters looking forward 100.000000 meters along route # Maximum depth: 1537.207969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.160017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929312; longitude = -129.998694; captureRadius = 10; duration = 109; initialDepth = 1491.160017; finalDepth = 1489.053375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.790859 # Actual altitude: 50 # Commanded vehicle depth:1491.160017 # Seafloor depth:-1536.454237 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.517010 meters # Minimum depth: 1535.946251 meters looking forward 100.000000 meters along route # Maximum depth: 1536.158153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.946251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930212; longitude = -129.999270; captureRadius = 10; duration = 109; initialDepth = 1490.946251; finalDepth = 1491.160017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.29422 # Actual altitude: 50 # Commanded vehicle depth:1490.946251 # Seafloor depth:-1536.158153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.516739 meters # Minimum depth: 1535.393036 meters looking forward 100.000000 meters along route # Maximum depth: 1538.802475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.393036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931112; longitude = -129.999846; captureRadius = 10; duration = 109; initialDepth = 1490.393036; finalDepth = 1490.946251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3964700000001 # Actual altitude: 50 # Commanded vehicle depth:1490.393036 # Seafloor depth:-1535.789506 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.078841 meters # Minimum depth: 1539.039825 meters looking forward 100.000000 meters along route # Maximum depth: 1542.965964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.039825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932012; longitude = -130.000421; captureRadius = 10; duration = 100; initialDepth = 1494.039825; finalDepth = 1490.393036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3964700000001 # Actual altitude: 50 # Commanded vehicle depth:1494.039825 # Seafloor depth:-1539.039825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 108.002219 meters # Minimum depth: 1543.019681 meters looking forward 100.000000 meters along route # Maximum depth: 1545.640609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.019681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932835; longitude = -130.000947; captureRadius = 10; duration = 108; initialDepth = 1498.019681; finalDepth = 1494.039825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1498.019681 # Seafloor depth:-1543.019681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.515954 meters # Minimum depth: 1545.583667 meters looking forward 100.000000 meters along route # Maximum depth: 1546.632264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.583667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933722; longitude = -130.001515; captureRadius = 10; duration = 109; initialDepth = 1500.583667; finalDepth = 1498.019681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4588549999999 # Actual altitude: 50 # Commanded vehicle depth:1500.583667 # Seafloor depth:-1546.042522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.750030 meters # Minimum depth: 1545.403997 meters looking forward 100.000000 meters along route # Maximum depth: 1546.126004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.403997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934622; longitude = -130.002091; captureRadius = 10; duration = 101; initialDepth = 1500.403997; finalDepth = 1500.583667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4588549999999 # Actual altitude: 50 # Commanded vehicle depth:1500.403997 # Seafloor depth:-1545.475065 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.329538 meters # Minimum depth: 1545.789325 meters looking forward 100.000000 meters along route # Maximum depth: 1547.094791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.789325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935459; longitude = -130.002625; captureRadius = 10; duration = 106; initialDepth = 1500.789325; finalDepth = 1500.403997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.123055 # Actual altitude: 50 # Commanded vehicle depth:1500.789325 # Seafloor depth:-1545.912380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.515170 meters # Minimum depth: 1545.768012 meters looking forward 100.000000 meters along route # Maximum depth: 1546.797157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.768012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936332; longitude = -130.003184; captureRadius = 10; duration = 109; initialDepth = 1500.768012; finalDepth = 1500.789325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.029145 # Actual altitude: 50 # Commanded vehicle depth:1500.768012 # Seafloor depth:-1546.797157 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.421195 meters # Minimum depth: 1545.711251 meters looking forward 100.000000 meters along route # Maximum depth: 1546.671861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.711251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937233; longitude = -130.003760; captureRadius = 10; duration = 103; initialDepth = 1500.711251; finalDepth = 1500.768012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.029145 # Actual altitude: 50 # Commanded vehicle depth:1500.711251 # Seafloor depth:-1546.038190 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.656881 meters # Minimum depth: 1545.848281 meters looking forward 100.000000 meters along route # Maximum depth: 1546.097632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.848281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938083; longitude = -130.004303; captureRadius = 10; duration = 104; initialDepth = 1500.848281; finalDepth = 1500.711251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.326939 # Actual altitude: 50 # Commanded vehicle depth:1500.848281 # Seafloor depth:-1545.856699 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.514385 meters # Minimum depth: 1545.791172 meters looking forward 100.000000 meters along route # Maximum depth: 1546.808150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.791172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938943; longitude = -130.004854; captureRadius = 10; duration = 109; initialDepth = 1500.791172; finalDepth = 1500.848281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.26899 # Actual altitude: 50 # Commanded vehicle depth:1500.791172 # Seafloor depth:-1546.060162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.092337 meters # Minimum depth: 1545.729170 meters looking forward 100.000000 meters along route # Maximum depth: 1546.638050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.729170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939843; longitude = -130.005429; captureRadius = 10; duration = 105; initialDepth = 1500.729170; finalDepth = 1500.791172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.26899 # Actual altitude: 50 # Commanded vehicle depth:1500.72917 # Seafloor depth:-1545.736185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.984248 meters # Minimum depth: 1542.026015 meters looking forward 100.000000 meters along route # Maximum depth: 1545.617031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.026015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940706; longitude = -130.005982; captureRadius = 10; duration = 102; initialDepth = 1497.026015; finalDepth = 1500.729170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5910160000001 # Actual altitude: 50 # Commanded vehicle depth:1497.026015 # Seafloor depth:-1545.617031 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.513600 meters # Minimum depth: 1540.913719 meters looking forward 100.000000 meters along route # Maximum depth: 1542.281694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.913719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941553; longitude = -130.006523; captureRadius = 10; duration = 109; initialDepth = 1495.913719; finalDepth = 1497.026015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5910160000001 # Actual altitude: 50 # Commanded vehicle depth:1495.913719 # Seafloor depth:-1542.071733 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.763454 meters # Minimum depth: 1542.849825 meters looking forward 100.000000 meters along route # Maximum depth: 1546.120204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.849825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942453; longitude = -130.007098; captureRadius = 10; duration = 106; initialDepth = 1497.849825; finalDepth = 1495.913719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1580140000001 # Actual altitude: 50 # Commanded vehicle depth:1497.849825 # Seafloor depth:-1542.849825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.311640 meters # Minimum depth: 1546.414004 meters looking forward 100.000000 meters along route # Maximum depth: 1548.074336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.414004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943330; longitude = -130.007660; captureRadius = 10; duration = 101; initialDepth = 1501.414004; finalDepth = 1497.849825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1501.414004 # Seafloor depth:-1546.414004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.512815 meters # Minimum depth: 1546.643264 meters looking forward 100.000000 meters along route # Maximum depth: 1548.325835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.643264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944163; longitude = -130.008192; captureRadius = 10; duration = 109; initialDepth = 1501.643264; finalDepth = 1501.414004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1601739999999 # Actual altitude: 50 # Commanded vehicle depth:1501.643264 # Seafloor depth:-1547.803438 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.512545 meters # Minimum depth: 1547.032793 meters looking forward 100.000000 meters along route # Maximum depth: 1548.275724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.032793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945063; longitude = -130.008768; captureRadius = 10; duration = 109; initialDepth = 1502.032793; finalDepth = 1501.643264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.242931 # Actual altitude: 50 # Commanded vehicle depth:1502.032793 # Seafloor depth:-1548.275724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.512274 meters # Minimum depth: 1546.889520 meters looking forward 100.000000 meters along route # Maximum depth: 1548.659795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.889520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945963; longitude = -130.009343; captureRadius = 10; duration = 109; initialDepth = 1501.889520; finalDepth = 1502.032793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.242931 # Actual altitude: 50 # Commanded vehicle depth:1501.88952 # Seafloor depth:-1547.505320 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 110.433844 meters # Minimum depth: 1546.431875 meters looking forward 100.000000 meters along route # Maximum depth: 1546.930515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.431875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946863; longitude = -130.009919; captureRadius = 10; duration = 110; initialDepth = 1501.431875; finalDepth = 1501.889520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6158 # Actual altitude: 50 # Commanded vehicle depth:1501.431875 # Seafloor depth:-1546.927372 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 108.589891 meters # Minimum depth: 1546.524781 meters looking forward 100.000000 meters along route # Maximum depth: 1547.756496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.524781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947771; longitude = -130.010499; captureRadius = 10; duration = 108; initialDepth = 1501.524781; finalDepth = 1501.431875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4954970000001 # Actual altitude: 50 # Commanded vehicle depth:1501.524781 # Seafloor depth:-1546.524781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.511462 meters # Minimum depth: 1546.531589 meters looking forward 100.000000 meters along route # Maximum depth: 1549.523685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.531589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948663; longitude = -130.011070; captureRadius = 10; duration = 109; initialDepth = 1501.531589; finalDepth = 1501.524781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4712610000001 # Actual altitude: 50 # Commanded vehicle depth:1501.531589 # Seafloor depth:-1547.002850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.153757 meters # Minimum depth: 1549.793731 meters looking forward 100.000000 meters along route # Maximum depth: 1554.687134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.793731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949564; longitude = -130.011646; captureRadius = 10; duration = 101; initialDepth = 1504.793731; finalDepth = 1501.531589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4712610000001 # Actual altitude: 50 # Commanded vehicle depth:1504.793731 # Seafloor depth:-1549.793731 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.917276 meters # Minimum depth: 1554.232930 meters looking forward 100.000000 meters along route # Maximum depth: 1556.699031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.232930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950395; longitude = -130.012177; captureRadius = 10; duration = 106; initialDepth = 1509.232930; finalDepth = 1504.793731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3673540000002 # Actual altitude: 50 # Commanded vehicle depth:1509.23293 # Seafloor depth:-1554.600284 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.510677 meters # Minimum depth: 1544.040866 meters looking forward 100.000000 meters along route # Maximum depth: 1552.625436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.040866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951274; longitude = -130.012739; captureRadius = 10; duration = 109; initialDepth = 1499.040866; finalDepth = 1509.232930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.58457 # Actual altitude: 53.58457 # Commanded vehicle depth:1499.040866 # Seafloor depth:-1552.625436 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 214.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.824858 meters # Minimum depth: 1534.450112 meters looking forward 100.000000 meters along route # Maximum depth: 1543.454885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.450112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952174; longitude = -130.013315; captureRadius = 10; duration = 102; initialDepth = 1489.450112; finalDepth = 1499.040866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0047730000001 # Actual altitude: 54.0047730000001 # Commanded vehicle depth:1489.450112 # Seafloor depth:-1543.454885 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.244683 meters # Minimum depth: 1533.984036 meters looking forward 100.000000 meters along route # Maximum depth: 1534.760676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.984036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953019; longitude = -130.013856; captureRadius = 10; duration = 105; initialDepth = 1488.984036; finalDepth = 1489.450112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0047730000001 # Actual altitude: 54.0047730000001 # Commanded vehicle depth:1488.984036 # Seafloor depth:-1534.329274 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 216.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.509893 meters # Minimum depth: 1534.609197 meters looking forward 100.000000 meters along route # Maximum depth: 1535.283712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.609197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953884; longitude = -130.014409; captureRadius = 10; duration = 109; initialDepth = 1489.609197; finalDepth = 1488.984036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3452379999999 # Actual altitude: 50 # Commanded vehicle depth:1489.609197 # Seafloor depth:-1534.783807 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.495935 meters # Minimum depth: 1535.560643 meters looking forward 100.000000 meters along route # Maximum depth: 1537.247129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.560643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954784; longitude = -130.014984; captureRadius = 10; duration = 104; initialDepth = 1490.560643; finalDepth = 1489.609197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.17461 # Actual altitude: 50 # Commanded vehicle depth:1490.560643 # Seafloor depth:-1535.560643 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 103.572115 meters # Minimum depth: 1537.081886 meters looking forward 100.000000 meters along route # Maximum depth: 1541.006687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.081886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955643; longitude = -130.015534; captureRadius = 10; duration = 103; initialDepth = 1492.081886; finalDepth = 1490.560643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.02493 # Actual altitude: 50 # Commanded vehicle depth:1492.081886 # Seafloor depth:-1537.106816 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.509108 meters # Minimum depth: 1541.155107 meters looking forward 100.000000 meters along route # Maximum depth: 1545.204314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.155107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956494; longitude = -130.016078; captureRadius = 10; duration = 109; initialDepth = 1496.155107; finalDepth = 1492.081886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.02493 # Actual altitude: 50 # Commanded vehicle depth:1496.155107 # Seafloor depth:-1541.155107 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 106.166988 meters # Minimum depth: 1542.715449 meters looking forward 100.000000 meters along route # Maximum depth: 1547.059557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.715449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957394; longitude = -130.016654; captureRadius = 10; duration = 106; initialDepth = 1497.715449; finalDepth = 1496.155107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.715449 # Seafloor depth:-1542.715449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.899572 meters # Minimum depth: 1547.675578 meters looking forward 100.000000 meters along route # Maximum depth: 1549.926157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.675578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958267; longitude = -130.017212; captureRadius = 10; duration = 101; initialDepth = 1502.675578; finalDepth = 1497.715449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1502.675578 # Seafloor depth:-1547.675578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 109.332736 meters # Minimum depth: 1547.725328 meters looking forward 100.000000 meters along route # Maximum depth: 1551.712397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.725328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959104; longitude = -130.017747; captureRadius = 10; duration = 109; initialDepth = 1502.725328; finalDepth = 1502.675578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3575350000001 # Actual altitude: 50 # Commanded vehicle depth:1502.725328 # Seafloor depth:-1549.082863 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59.180195 meters # Minimum depth: 1548.502317 meters looking forward 100.000000 meters along route # Maximum depth: 1559.458179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.502317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960003; longitude = -130.018322; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 1503.502317; finalDepth = 1502.725328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8414330000001 # Actual altitude: 50 # Commanded vehicle depth:1503.502317 # Seafloor depth:-1552.343750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.843089 meters # Minimum depth: 1560.937615 meters looking forward 100.000000 meters along route # Maximum depth: 1570.090612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.937615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959785; longitude = -130.019019; captureRadius = 10; duration = 110; initialDepth = 1515.937615; finalDepth = 1503.502317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8414330000001 # Actual altitude: 50 # Commanded vehicle depth:1515.937615 # Seafloor depth:-1560.937615 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 51.765970 meters # Minimum depth: 1567.952885 meters looking forward 100.000000 meters along route # Maximum depth: 1570.956535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.952885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959377; longitude = -130.020324; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 1522.952885; finalDepth = 1515.937615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.13525 # Actual altitude: 50 # Commanded vehicle depth:1522.952885 # Seafloor depth:-1570.088135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.908846 meters # Minimum depth: 1553.010848 meters looking forward 100.000000 meters along route # Maximum depth: 1570.855996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.010848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958952; longitude = -130.020051; captureRadius = 10; duration = 101; initialDepth = 1508.010848; finalDepth = 1522.952885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8451480000001 # Actual altitude: 62.8451480000001 # Commanded vehicle depth:1508.010848 # Seafloor depth:-1570.855996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 251.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.541225 meters # Minimum depth: 1546.686293 meters looking forward 100.000000 meters along route # Maximum depth: 1552.224496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.686293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958114; longitude = -130.019515; captureRadius = 10; duration = 109; initialDepth = 1501.686293; finalDepth = 1508.010848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8451480000001 # Actual altitude: 62.8451480000001 # Commanded vehicle depth:1501.686293 # Seafloor depth:-1552.224496 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 251.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 251.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 107.325683 meters # Minimum depth: 1545.331572 meters looking forward 100.000000 meters along route # Maximum depth: 1548.857973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.331572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957214; longitude = -130.018938; captureRadius = 10; duration = 107; initialDepth = 1500.331572; finalDepth = 1501.686293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5382030000001 # Actual altitude: 50.5382030000001 # Commanded vehicle depth:1500.331572 # Seafloor depth:-1548.857973 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.803393 meters # Minimum depth: 1538.926573 meters looking forward 100.000000 meters along route # Maximum depth: 1547.307500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.926573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956332; longitude = -130.018373; captureRadius = 10; duration = 100; initialDepth = 1493.926573; finalDepth = 1500.331572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2976679999999 # Actual altitude: 53.2976679999999 # Commanded vehicle depth:1493.926573 # Seafloor depth:-1547.224241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.19; 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 = 213.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.542013 meters # Minimum depth: 1536.601220 meters looking forward 100.000000 meters along route # Maximum depth: 1538.393799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.601220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955504; longitude = -130.017843; captureRadius = 10; duration = 109; initialDepth = 1491.601220; finalDepth = 1493.926573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2976679999999 # Actual altitude: 53.2976679999999 # Commanded vehicle depth:1491.60122 # Seafloor depth:-1538.393799 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.19; 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 = 213.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 109.542285 meters # Minimum depth: 1536.898683 meters looking forward 100.000000 meters along route # Maximum depth: 1540.238372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.898683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954604; longitude = -130.017266; captureRadius = 10; duration = 109; initialDepth = 1491.898683; finalDepth = 1491.601220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7925789999999 # Actual altitude: 50 # Commanded vehicle depth:1491.898683 # Seafloor depth:-1536.898683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.542555 meters # Minimum depth: 1538.151138 meters looking forward 100.000000 meters along route # Maximum depth: 1541.085857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.151138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953704; longitude = -130.016690; captureRadius = 10; duration = 109; initialDepth = 1493.151138; finalDepth = 1491.898683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.372617 # Actual altitude: 50 # Commanded vehicle depth:1493.151138 # Seafloor depth:-1539.523755 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.041652 meters # Minimum depth: 1541.035645 meters looking forward 100.000000 meters along route # Maximum depth: 1544.419555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.035645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952804; longitude = -130.016113; captureRadius = 10; duration = 110; initialDepth = 1496.035645; finalDepth = 1493.151138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.372617 # Actual altitude: 50 # Commanded vehicle depth:1496.035645 # Seafloor depth:-1541.035645 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.044275 meters # Minimum depth: 1544.203734 meters looking forward 100.000000 meters along route # Maximum depth: 1545.244963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.203734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951900; longitude = -130.015534; captureRadius = 10; duration = 109; initialDepth = 1499.203734; finalDepth = 1496.035645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2249980000001 # Actual altitude: 50 # Commanded vehicle depth:1499.203734 # Seafloor depth:-1544.428732 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.543370 meters # Minimum depth: 1545.871540 meters looking forward 100.000000 meters along route # Maximum depth: 1546.938877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.871540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951004; longitude = -130.014960; captureRadius = 10; duration = 109; initialDepth = 1500.871540; finalDepth = 1499.203734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2249980000001 # Actual altitude: 50 # Commanded vehicle depth:1500.87154 # Seafloor depth:-1545.871540 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.194299 meters # Minimum depth: 1546.441608 meters looking forward 100.000000 meters along route # Maximum depth: 1550.171084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.441608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950104; longitude = -130.014383; captureRadius = 10; duration = 100; initialDepth = 1501.441608; finalDepth = 1500.871540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1501.441608 # Seafloor depth:-1546.441608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.938853 meters # Minimum depth: 1550.149286 meters looking forward 100.000000 meters along route # Maximum depth: 1550.532061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.149286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949280; longitude = -130.013856; captureRadius = 10; duration = 107; initialDepth = 1505.149286; finalDepth = 1501.441608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1505.149286 # Seafloor depth:-1550.149286 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.544157 meters # Minimum depth: 1549.387545 meters looking forward 100.000000 meters along route # Maximum depth: 1550.483057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.387545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948393; longitude = -130.013287; captureRadius = 10; duration = 109; initialDepth = 1504.387545; finalDepth = 1505.149286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0955119999999 # Actual altitude: 50 # Commanded vehicle depth:1504.387545 # Seafloor depth:-1550.483057 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.301233 meters # Minimum depth: 1549.020716 meters looking forward 100.000000 meters along route # Maximum depth: 1549.856897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.020716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947493; longitude = -130.012711; captureRadius = 10; duration = 101; initialDepth = 1504.020716; finalDepth = 1504.387545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0955119999999 # Actual altitude: 50 # Commanded vehicle depth:1504.020716 # Seafloor depth:-1549.071975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.833415 meters # Minimum depth: 1547.190324 meters looking forward 100.000000 meters along route # Maximum depth: 1549.229090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.190324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946661; longitude = -130.012177; captureRadius = 10; duration = 106; initialDepth = 1502.190324; finalDepth = 1504.020716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0387660000001 # Actual altitude: 50 # Commanded vehicle depth:1502.190324 # Seafloor depth:-1549.229090 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.544946 meters # Minimum depth: 1547.248716 meters looking forward 100.000000 meters along route # Maximum depth: 1549.146634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.248716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945783; longitude = -130.011615; captureRadius = 10; duration = 109; initialDepth = 1502.248716; finalDepth = 1502.190324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0387660000001 # Actual altitude: 50 # Commanded vehicle depth:1502.248716 # Seafloor depth:-1547.248716 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.408182 meters # Minimum depth: 1548.114360 meters looking forward 100.000000 meters along route # Maximum depth: 1549.181771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.114360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944883; longitude = -130.011038; captureRadius = 10; duration = 102; initialDepth = 1503.114360; finalDepth = 1502.248716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.067411 # Actual altitude: 50 # Commanded vehicle depth:1503.11436 # Seafloor depth:-1549.181771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.727962 meters # Minimum depth: 1546.726194 meters looking forward 100.000000 meters along route # Maximum depth: 1547.993460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.726194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944042; longitude = -130.010499; captureRadius = 10; duration = 105; initialDepth = 1501.726194; finalDepth = 1503.114360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2672659999998 # Actual altitude: 50 # Commanded vehicle depth:1501.726194 # Seafloor depth:-1547.993460 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.545732 meters # Minimum depth: 1546.734234 meters looking forward 100.000000 meters along route # Maximum depth: 1548.619766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.734234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943173; longitude = -130.009943; captureRadius = 10; duration = 109; initialDepth = 1501.734234; finalDepth = 1501.726194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2672659999998 # Actual altitude: 50 # Commanded vehicle depth:1501.734234 # Seafloor depth:-1546.915912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.515149 meters # Minimum depth: 1547.266928 meters looking forward 100.000000 meters along route # Maximum depth: 1548.269176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.266928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942273; longitude = -130.009366; captureRadius = 10; duration = 103; initialDepth = 1502.266928; finalDepth = 1501.734234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.002248 # Actual altitude: 50 # Commanded vehicle depth:1502.266928 # Seafloor depth:-1548.269176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.622492 meters # Minimum depth: 1547.442199 meters looking forward 100.000000 meters along route # Maximum depth: 1548.386790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.442199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941422; longitude = -130.008821; captureRadius = 10; duration = 104; initialDepth = 1502.442199; finalDepth = 1502.266928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.002248 # Actual altitude: 50 # Commanded vehicle depth:1502.442199 # Seafloor depth:-1547.442199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.546520 meters # Minimum depth: 1547.227959 meters looking forward 100.000000 meters along route # Maximum depth: 1548.462727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.227959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940563; longitude = -130.008271; captureRadius = 10; duration = 109; initialDepth = 1502.227959; finalDepth = 1502.442199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.234768 # Actual altitude: 50 # Commanded vehicle depth:1502.227959 # Seafloor depth:-1548.462727 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.622131 meters # Minimum depth: 1546.863712 meters looking forward 100.000000 meters along route # Maximum depth: 1547.162414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.863712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939663; longitude = -130.007694; captureRadius = 10; duration = 104; initialDepth = 1501.863712; finalDepth = 1502.227959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.234768 # Actual altitude: 50 # Commanded vehicle depth:1501.863712 # Seafloor depth:-1547.143098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.517005 meters # Minimum depth: 1546.086471 meters looking forward 100.000000 meters along route # Maximum depth: 1547.863033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.086471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938803; longitude = -130.007143; captureRadius = 10; duration = 103; initialDepth = 1501.086471; finalDepth = 1501.863712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.978537 # Actual altitude: 50 # Commanded vehicle depth:1501.086471 # Seafloor depth:-1547.065008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.547308 meters # Minimum depth: 1546.763846 meters looking forward 100.000000 meters along route # Maximum depth: 1548.742786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.763846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937953; longitude = -130.006598; captureRadius = 10; duration = 109; initialDepth = 1501.763846; finalDepth = 1501.086471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.978537 # Actual altitude: 50 # Commanded vehicle depth:1501.763846 # Seafloor depth:-1546.763846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.729129 meters # Minimum depth: 1548.764438 meters looking forward 100.000000 meters along route # Maximum depth: 1549.893170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.764438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937053; longitude = -130.006022; captureRadius = 10; duration = 105; initialDepth = 1503.764438; finalDepth = 1501.763846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1503.764438 # Seafloor depth:-1548.764438 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.411504 meters # Minimum depth: 1549.156336 meters looking forward 100.000000 meters along route # Maximum depth: 1549.848121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.156336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936184; longitude = -130.005465; captureRadius = 10; duration = 102; initialDepth = 1504.156336; finalDepth = 1503.764438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.691785 # Actual altitude: 50 # Commanded vehicle depth:1504.156336 # Seafloor depth:-1549.848121 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.548096 meters # Minimum depth: 1548.313244 meters looking forward 100.000000 meters along route # Maximum depth: 1549.137555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.313244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935342; longitude = -130.004926; captureRadius = 10; duration = 109; initialDepth = 1503.313244; finalDepth = 1504.156336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8243110000001 # Actual altitude: 50 # Commanded vehicle depth:1503.313244 # Seafloor depth:-1549.137555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.836143 meters # Minimum depth: 1547.462762 meters looking forward 100.000000 meters along route # Maximum depth: 1548.801247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.462762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934442; longitude = -130.004350; captureRadius = 10; duration = 106; initialDepth = 1502.462762; finalDepth = 1503.313244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.338485 # Actual altitude: 50 # Commanded vehicle depth:1502.462762 # Seafloor depth:-1548.801247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.305986 meters # Minimum depth: 1546.430177 meters looking forward 100.000000 meters along route # Maximum depth: 1547.285592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.430177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933565; longitude = -130.003787; captureRadius = 10; duration = 101; initialDepth = 1501.430177; finalDepth = 1502.462762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.338485 # Actual altitude: 50 # Commanded vehicle depth:1501.430177 # Seafloor depth:-1547.285592 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.548883 meters # Minimum depth: 1546.297502 meters looking forward 100.000000 meters along route # Maximum depth: 1547.328526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.297502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932732; longitude = -130.003254; captureRadius = 10; duration = 109; initialDepth = 1501.297502; finalDepth = 1501.430177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.855415 # Actual altitude: 50 # Commanded vehicle depth:1501.297502 # Seafloor depth:-1546.425503 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.943173 meters # Minimum depth: 1542.869722 meters looking forward 100.000000 meters along route # Maximum depth: 1546.542415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.869722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931832; longitude = -130.002677; captureRadius = 10; duration = 107; initialDepth = 1497.869722; finalDepth = 1501.297502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.672693 # Actual altitude: 50 # Commanded vehicle depth:1497.869722 # Seafloor depth:-1546.542415 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.200453 meters # Minimum depth: 1539.340598 meters looking forward 100.000000 meters along route # Maximum depth: 1542.171763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.340598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930945; longitude = -130.002109; captureRadius = 10; duration = 100; initialDepth = 1494.340598; finalDepth = 1497.869722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.672693 # Actual altitude: 50 # Commanded vehicle depth:1494.340598 # Seafloor depth:-1542.171763 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.549671 meters # Minimum depth: 1540.163149 meters looking forward 100.000000 meters along route # Maximum depth: 1540.652682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.163149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930122; longitude = -130.001582; captureRadius = 10; duration = 109; initialDepth = 1495.163149; finalDepth = 1494.340598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8311650000001 # Actual altitude: 50 # Commanded vehicle depth:1495.163149 # Seafloor depth:-1540.184769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.549942 meters # Minimum depth: 1537.575067 meters looking forward 100.000000 meters along route # Maximum depth: 1539.904676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.575067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929222; longitude = -130.001005; captureRadius = 10; duration = 109; initialDepth = 1492.575067; finalDepth = 1495.163149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3296090000001 # Actual altitude: 50 # Commanded vehicle depth:1492.575067 # Seafloor depth:-1539.904676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.550214 meters # Minimum depth: 1537.156559 meters looking forward 100.000000 meters along route # Maximum depth: 1538.263881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.156559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928322; longitude = -130.000428; captureRadius = 10; duration = 109; initialDepth = 1492.156559; finalDepth = 1492.575067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3296090000001 # Actual altitude: 50 # Commanded vehicle depth:1492.156559 # Seafloor depth:-1537.559811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.659340 meters # Minimum depth: 1538.645038 meters looking forward 100.000000 meters along route # Maximum depth: 1540.476315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.645038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927422; longitude = -129.999852; captureRadius = 10; duration = 110; initialDepth = 1493.645038; finalDepth = 1492.156559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4032520000001 # Actual altitude: 50 # Commanded vehicle depth:1493.645038 # Seafloor depth:-1538.645038 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.441903 meters # Minimum depth: 1540.257897 meters looking forward 100.000000 meters along route # Maximum depth: 1540.870511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.257897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926513; longitude = -129.999269; captureRadius = 10; duration = 108; initialDepth = 1495.257897; finalDepth = 1493.645038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.183556 # Actual altitude: 50 # Commanded vehicle depth:1495.257897 # Seafloor depth:-1540.441453 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.551029 meters # Minimum depth: 1540.874607 meters looking forward 100.000000 meters along route # Maximum depth: 1541.485976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.874607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925622; longitude = -129.998698; captureRadius = 10; duration = 109; initialDepth = 1495.874607; finalDepth = 1495.257897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.183556 # Actual altitude: 50 # Commanded vehicle depth:1495.874607 # Seafloor depth:-1540.914745 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.811303 meters # Minimum depth: 1539.883411 meters looking forward 100.000000 meters along route # Maximum depth: 1541.758433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.883411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924722; longitude = -129.998122; captureRadius = 10; duration = 100; initialDepth = 1494.883411; finalDepth = 1495.874607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8480569999999 # Actual altitude: 50 # Commanded vehicle depth:1494.883411 # Seafloor depth:-1541.731468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.380348 meters # Minimum depth: 1537.362786 meters looking forward 100.000000 meters along route # Maximum depth: 1539.818892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.362786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923893; longitude = -129.997591; captureRadius = 10; duration = 107; initialDepth = 1492.362786; finalDepth = 1494.883411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4561060000001 # Actual altitude: 50 # Commanded vehicle depth:1492.362786 # Seafloor depth:-1539.818892 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 40.111129 meters # Minimum depth: 1537.320099 meters looking forward 100.000000 meters along route # Maximum depth: 1538.419148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.320099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923011; longitude = -129.997026; captureRadius = 10; duration = 40; # abortOnTimeout = True; initialDepth = 1492.320099; finalDepth = 1492.362786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4561060000001 # Actual altitude: 50 # Commanded vehicle depth:1492.320099 # Seafloor depth:-1537.320099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.819763 meters # Minimum depth: 1538.478335 meters looking forward 100.000000 meters along route # Maximum depth: 1541.838544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.478335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923281; longitude = -129.997369; captureRadius = 10; duration = 106; initialDepth = 1493.478335; finalDepth = 1492.320099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1493.478335 # Seafloor depth:-1538.478335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.506852 meters # Minimum depth: 1541.957656 meters looking forward 100.000000 meters along route # Maximum depth: 1542.396729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.957656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924001; longitude = -129.998281; captureRadius = 10; duration = 100; initialDepth = 1496.957656; finalDepth = 1493.478335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1496.957656 # Seafloor depth:-1541.957656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.750270 meters # Minimum depth: 1542.224075 meters looking forward 100.000000 meters along route # Maximum depth: 1542.836728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.224075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924679; longitude = -129.999140; captureRadius = 10; duration = 105; initialDepth = 1497.224075; finalDepth = 1496.957656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.224075 # Seafloor depth:-1542.224075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.846442 meters # Minimum depth: 1542.196608 meters looking forward 100.000000 meters along route # Maximum depth: 1542.964086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.196608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925392; longitude = -130.000044; captureRadius = 10; duration = 100; initialDepth = 1497.196608; finalDepth = 1497.224075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.037176 # Actual altitude: 50 # Commanded vehicle depth:1497.196608 # Seafloor depth:-1542.233784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.118518 meters # Minimum depth: 1542.256638 meters looking forward 100.000000 meters along route # Maximum depth: 1542.817371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.256638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926072; longitude = -130.000905; captureRadius = 10; duration = 102; initialDepth = 1497.256638; finalDepth = 1497.196608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.560733 # Actual altitude: 50 # Commanded vehicle depth:1497.256638 # Seafloor depth:-1542.817371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 80.575120 meters # Minimum depth: 1542.475029 meters looking forward 100.000000 meters along route # Maximum depth: 1543.031801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.475029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926760; longitude = -130.001778; captureRadius = 10; duration = 80; # abortOnTimeout = True; initialDepth = 1497.475029; finalDepth = 1497.256638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.560733 # Actual altitude: 50 # Commanded vehicle depth:1497.475029 # Seafloor depth:-1542.627502 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.545769 meters # Minimum depth: 1542.063638 meters looking forward 100.000000 meters along route # Maximum depth: 1543.306548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.063638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927422; longitude = -130.002203; captureRadius = 10; duration = 104; initialDepth = 1497.063638; finalDepth = 1497.475029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.10628 # Actual altitude: 50 # Commanded vehicle depth:1497.063638 # Seafloor depth:-1543.169918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.688388 meters # Minimum depth: 1541.301369 meters looking forward 100.000000 meters along route # Maximum depth: 1543.899517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.301369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928280; longitude = -130.002754; captureRadius = 10; duration = 103; initialDepth = 1496.301369; finalDepth = 1497.063638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.10628 # Actual altitude: 50 # Commanded vehicle depth:1496.301369 # Seafloor depth:-1542.155571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.596529 meters # Minimum depth: 1541.149143 meters looking forward 100.000000 meters along route # Maximum depth: 1542.814309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.149143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929132; longitude = -130.003301; captureRadius = 10; duration = 109; initialDepth = 1496.149143; finalDepth = 1496.301369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.854202 # Actual altitude: 50 # Commanded vehicle depth:1496.149143 # Seafloor depth:-1541.149143 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.836845 meters # Minimum depth: 1542.908211 meters looking forward 100.000000 meters along route # Maximum depth: 1548.161609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.908211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930032; longitude = -130.003880; captureRadius = 10; duration = 104; initialDepth = 1497.908211; finalDepth = 1496.149143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.908211 # Seafloor depth:-1542.908211 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.395808 meters # Minimum depth: 1548.516816 meters looking forward 100.000000 meters along route # Maximum depth: 1549.548426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.516816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930893; longitude = -130.004433; captureRadius = 10; duration = 103; initialDepth = 1503.516816; finalDepth = 1497.908211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1503.516816 # Seafloor depth:-1548.516816 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.595738 meters # Minimum depth: 1549.446768 meters looking forward 100.000000 meters along route # Maximum depth: 1550.067576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.446768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931742; longitude = -130.004978; captureRadius = 10; duration = 109; initialDepth = 1504.446768; finalDepth = 1503.516816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.06798 # Actual altitude: 50 # Commanded vehicle depth:1504.446768 # Seafloor depth:-1549.514748 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.127916 meters # Minimum depth: 1548.607440 meters looking forward 100.000000 meters along route # Maximum depth: 1549.344289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.607440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932642; longitude = -130.005556; captureRadius = 10; duration = 105; initialDepth = 1503.607440; finalDepth = 1504.446768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2956320000001 # Actual altitude: 50 # Commanded vehicle depth:1503.60744 # Seafloor depth:-1548.903072 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.103233 meters # Minimum depth: 1549.048615 meters looking forward 100.000000 meters along route # Maximum depth: 1549.953948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.048615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933506; longitude = -130.006111; captureRadius = 10; duration = 103; initialDepth = 1504.048615; finalDepth = 1503.607440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2956320000001 # Actual altitude: 50 # Commanded vehicle depth:1504.048615 # Seafloor depth:-1549.295776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.594946 meters # Minimum depth: 1549.265846 meters looking forward 100.000000 meters along route # Maximum depth: 1550.333516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.265846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934352; longitude = -130.006654; captureRadius = 10; duration = 109; initialDepth = 1504.265846; finalDepth = 1504.048615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.670165 # Actual altitude: 50 # Commanded vehicle depth:1504.265846 # Seafloor depth:-1549.936011 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.418984 meters # Minimum depth: 1548.260682 meters looking forward 100.000000 meters along route # Maximum depth: 1550.701808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.260682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935252; longitude = -130.007233; captureRadius = 10; duration = 105; initialDepth = 1503.260682; finalDepth = 1504.265846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3398219999999 # Actual altitude: 50 # Commanded vehicle depth:1503.260682 # Seafloor depth:-1550.600504 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.810661 meters # Minimum depth: 1546.110548 meters looking forward 100.000000 meters along route # Maximum depth: 1547.982782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.110548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936118; longitude = -130.007789; captureRadius = 10; duration = 102; initialDepth = 1501.110548; finalDepth = 1503.260682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3398219999999 # Actual altitude: 50 # Commanded vehicle depth:1501.110548 # Seafloor depth:-1547.982782 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.594154 meters # Minimum depth: 1546.045934 meters looking forward 100.000000 meters along route # Maximum depth: 1547.578312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.045934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936963; longitude = -130.008331; captureRadius = 10; duration = 109; initialDepth = 1501.045934; finalDepth = 1501.110548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8722339999999 # Actual altitude: 50 # Commanded vehicle depth:1501.045934 # Seafloor depth:-1546.045934 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.710048 meters # Minimum depth: 1547.007976 meters looking forward 100.000000 meters along route # Maximum depth: 1547.309598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.007976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937863; longitude = -130.008909; captureRadius = 10; duration = 105; initialDepth = 1502.007976; finalDepth = 1501.045934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.301622 # Actual altitude: 50 # Commanded vehicle depth:1502.007976 # Seafloor depth:-1547.309598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.518093 meters # Minimum depth: 1546.594673 meters looking forward 100.000000 meters along route # Maximum depth: 1548.075096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.594673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938731; longitude = -130.009467; captureRadius = 10; duration = 102; initialDepth = 1501.594673; finalDepth = 1502.007976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.766014 # Actual altitude: 50 # Commanded vehicle depth:1501.594673 # Seafloor depth:-1547.360687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.593363 meters # Minimum depth: 1546.005689 meters looking forward 100.000000 meters along route # Maximum depth: 1547.196652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.005689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939573; longitude = -130.010008; captureRadius = 10; duration = 109; initialDepth = 1501.005689; finalDepth = 1501.594673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.766014 # Actual altitude: 50 # Commanded vehicle depth:1501.005689 # Seafloor depth:-1546.517742 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.001108 meters # Minimum depth: 1547.154900 meters looking forward 100.000000 meters along route # Maximum depth: 1548.954444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.154900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940473; longitude = -130.010586; captureRadius = 10; duration = 106; initialDepth = 1502.154900; finalDepth = 1501.005689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0833419999999 # Actual altitude: 50 # Commanded vehicle depth:1502.1549 # Seafloor depth:-1548.238242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.225530 meters # Minimum depth: 1547.656248 meters looking forward 100.000000 meters along route # Maximum depth: 1549.491397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.656248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941343; longitude = -130.011145; captureRadius = 10; duration = 102; initialDepth = 1502.656248; finalDepth = 1502.154900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0833419999999 # Actual altitude: 50 # Commanded vehicle depth:1502.656248 # Seafloor depth:-1547.656248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.592571 meters # Minimum depth: 1549.664496 meters looking forward 100.000000 meters along route # Maximum depth: 1550.566480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.664496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942183; longitude = -130.011684; captureRadius = 10; duration = 109; initialDepth = 1504.664496; finalDepth = 1502.656248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1504.664496 # Seafloor depth:-1549.664496 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.292163 meters # Minimum depth: 1549.451528 meters looking forward 100.000000 meters along route # Maximum depth: 1551.248706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.451528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943083; longitude = -130.012262; captureRadius = 10; duration = 106; initialDepth = 1504.451528; finalDepth = 1504.664496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.740513 # Actual altitude: 50 # Commanded vehicle depth:1504.451528 # Seafloor depth:-1550.192041 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.932971 meters # Minimum depth: 1549.512833 meters looking forward 100.000000 meters along route # Maximum depth: 1550.302503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.512833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943956; longitude = -130.012823; captureRadius = 10; duration = 101; initialDepth = 1504.512833; finalDepth = 1504.451528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.740513 # Actual altitude: 50 # Commanded vehicle depth:1504.512833 # Seafloor depth:-1549.627861 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.591780 meters # Minimum depth: 1548.975612 meters looking forward 100.000000 meters along route # Maximum depth: 1549.574962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.975612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944793; longitude = -130.013361; captureRadius = 10; duration = 109; initialDepth = 1503.975612; finalDepth = 1504.512833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.512745 # Actual altitude: 50 # Commanded vehicle depth:1503.975612 # Seafloor depth:-1549.488357 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.583214 meters # Minimum depth: 1549.285691 meters looking forward 100.000000 meters along route # Maximum depth: 1550.218082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.285691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945693; longitude = -130.013939; captureRadius = 10; duration = 106; initialDepth = 1504.285691; finalDepth = 1503.975612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.512745 # Actual altitude: 50 # Commanded vehicle depth:1504.285691 # Seafloor depth:-1549.725177 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.640417 meters # Minimum depth: 1549.877557 meters looking forward 100.000000 meters along route # Maximum depth: 1550.990822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.877557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946569; longitude = -130.014501; captureRadius = 10; duration = 101; initialDepth = 1504.877557; finalDepth = 1504.285691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.772532 # Actual altitude: 50 # Commanded vehicle depth:1504.877557 # Seafloor depth:-1550.650089 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.590988 meters # Minimum depth: 1548.113225 meters looking forward 100.000000 meters along route # Maximum depth: 1549.851744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.113225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947403; longitude = -130.015037; captureRadius = 10; duration = 109; initialDepth = 1503.113225; finalDepth = 1504.877557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.738519 # Actual altitude: 50 # Commanded vehicle depth:1503.113225 # Seafloor depth:-1549.851744 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.874261 meters # Minimum depth: 1545.723259 meters looking forward 100.000000 meters along route # Maximum depth: 1547.626712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.723259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948303; longitude = -130.015615; captureRadius = 10; duration = 106; initialDepth = 1500.723259; finalDepth = 1503.113225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9034529999999 # Actual altitude: 50 # Commanded vehicle depth:1500.723259 # Seafloor depth:-1547.626712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.347866 meters # Minimum depth: 1546.999418 meters looking forward 100.000000 meters along route # Maximum depth: 1549.024446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.999418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949181; longitude = -130.016179; captureRadius = 10; duration = 101; initialDepth = 1501.999418; finalDepth = 1500.723259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9034529999999 # Actual altitude: 50 # Commanded vehicle depth:1501.999418 # Seafloor depth:-1546.999418 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.590198 meters # Minimum depth: 1548.706601 meters looking forward 100.000000 meters along route # Maximum depth: 1551.450043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.706601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950014; longitude = -130.016714; captureRadius = 10; duration = 109; initialDepth = 1503.706601; finalDepth = 1501.999418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1503.706601 # Seafloor depth:-1548.706601 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.165302 meters # Minimum depth: 1551.125048 meters looking forward 100.000000 meters along route # Maximum depth: 1556.525825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.125048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950914; longitude = -130.017292; captureRadius = 10; duration = 107; initialDepth = 1506.125048; finalDepth = 1503.706601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.052917 # Actual altitude: 50 # Commanded vehicle depth:1506.125048 # Seafloor depth:-1551.177965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.055321 meters # Minimum depth: 1554.609017 meters looking forward 100.000000 meters along route # Maximum depth: 1556.550783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.609017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951794; longitude = -130.017857; captureRadius = 10; duration = 101; initialDepth = 1509.609017; finalDepth = 1506.125048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9345270000001 # Actual altitude: 50 # Commanded vehicle depth:1509.609017 # Seafloor depth:-1556.543544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.589406 meters # Minimum depth: 1553.992452 meters looking forward 100.000000 meters along route # Maximum depth: 1554.984004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.992452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952624; longitude = -130.018390; captureRadius = 10; duration = 109; initialDepth = 1508.992452; finalDepth = 1509.609017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9345270000001 # Actual altitude: 50 # Commanded vehicle depth:1508.992452 # Seafloor depth:-1554.544159 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.456341 meters # Minimum depth: 1553.435193 meters looking forward 100.000000 meters along route # Maximum depth: 1555.463233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.435193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953524; longitude = -130.018968; captureRadius = 10; duration = 107; initialDepth = 1508.435193; finalDepth = 1508.992452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0202870000001 # Actual altitude: 50 # Commanded vehicle depth:1508.435193 # Seafloor depth:-1555.455480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.762779 meters # Minimum depth: 1554.375357 meters looking forward 100.000000 meters along route # Maximum depth: 1555.247147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.375357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954406; longitude = -130.019535; captureRadius = 10; duration = 100; initialDepth = 1509.375357; finalDepth = 1508.435193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0202870000001 # Actual altitude: 50 # Commanded vehicle depth:1509.375357 # Seafloor depth:-1554.426792 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.588615 meters # Minimum depth: 1555.344845 meters looking forward 100.000000 meters along route # Maximum depth: 1558.869827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.344845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955234; longitude = -130.020067; captureRadius = 10; duration = 109; initialDepth = 1510.344845; finalDepth = 1509.375357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0514350000001 # Actual altitude: 50 # Commanded vehicle depth:1510.344845 # Seafloor depth:-1555.344845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.747375 meters # Minimum depth: 1559.391310 meters looking forward 100.000000 meters along route # Maximum depth: 1561.194935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.391310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956134; longitude = -130.020645; captureRadius = 10; duration = 107; initialDepth = 1514.391310; finalDepth = 1510.344845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1514.39131 # Seafloor depth:-1559.391310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.470241 meters # Minimum depth: 1561.393714 meters looking forward 100.000000 meters along route # Maximum depth: 1563.310964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.393714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957019; longitude = -130.021213; captureRadius = 10; duration = 100; initialDepth = 1516.393714; finalDepth = 1514.391310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1516.393714 # Seafloor depth:-1561.393714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.277170 meters # Minimum depth: 1563.398258 meters looking forward 100.000000 meters along route # Maximum depth: 1569.011737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.398258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957844; longitude = -130.021743; captureRadius = 10; duration = 110; initialDepth = 1518.398258; finalDepth = 1516.393714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1518.398258 # Seafloor depth:-1563.398258 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59.062785 meters # Minimum depth: 1566.288661 meters looking forward 100.000000 meters along route # Maximum depth: 1569.586378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.288661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958750; longitude = -130.022325; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 1521.288661; finalDepth = 1518.398258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.924413 # Actual altitude: 50 # Commanded vehicle depth:1521.288661 # Seafloor depth:-1569.213074 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.893075 meters # Minimum depth: 1569.436687 meters looking forward 100.000000 meters along route # Maximum depth: 1571.439466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.436687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958532; longitude = -130.023020; captureRadius = 10; duration = 110; initialDepth = 1524.436687; finalDepth = 1521.288661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.924413 # Actual altitude: 50 # Commanded vehicle depth:1524.436687 # Seafloor depth:-1569.439891 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 88.935065 meters # Minimum depth: 1568.754811 meters looking forward 100.000000 meters along route # Maximum depth: 1571.755615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.754811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958124; longitude = -130.024326; captureRadius = 10; duration = 88; # abortOnTimeout = True; initialDepth = 1523.754811; finalDepth = 1524.436687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.000804 # Actual altitude: 50 # Commanded vehicle depth:1523.754811 # Seafloor depth:-1571.755615 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.689274 meters # Minimum depth: 1561.992076 meters looking forward 100.000000 meters along route # Maximum depth: 1570.253669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.992076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957394; longitude = -130.023855; captureRadius = 10; duration = 109; initialDepth = 1516.992076; finalDepth = 1523.754811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2615929999999 # Actual altitude: 53.2615929999999 # Commanded vehicle depth:1516.992076 # Seafloor depth:-1570.253669 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.689549 meters # Minimum depth: 1561.034603 meters looking forward 100.000000 meters along route # Maximum depth: 1561.938706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.034603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956494; longitude = -130.023273; captureRadius = 10; duration = 109; initialDepth = 1516.034603; finalDepth = 1516.992076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2615929999999 # Actual altitude: 53.2615929999999 # Commanded vehicle depth:1516.034603 # Seafloor depth:-1561.938706 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 109.689825 meters # Minimum depth: 1559.447792 meters looking forward 100.000000 meters along route # Maximum depth: 1562.139404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.447792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955594; longitude = -130.022692; captureRadius = 10; duration = 109; initialDepth = 1514.447792; finalDepth = 1516.034603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3270460000001 # Actual altitude: 50 # Commanded vehicle depth:1514.447792 # Seafloor depth:-1561.774838 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.690101 meters # Minimum depth: 1555.899677 meters looking forward 100.000000 meters along route # Maximum depth: 1559.418610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.899677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954694; longitude = -130.022111; captureRadius = 10; duration = 109; initialDepth = 1510.899677; finalDepth = 1514.447792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5189329999998 # Actual altitude: 50 # Commanded vehicle depth:1510.899677 # Seafloor depth:-1559.418610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.690377 meters # Minimum depth: 1555.649430 meters looking forward 100.000000 meters along route # Maximum depth: 1557.369611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.649430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953794; longitude = -130.021530; captureRadius = 10; duration = 109; initialDepth = 1510.649430; finalDepth = 1510.899677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5189329999998 # Actual altitude: 50 # Commanded vehicle depth:1510.64943 # Seafloor depth:-1555.649430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.690652 meters # Minimum depth: 1554.659988 meters looking forward 100.000000 meters along route # Maximum depth: 1556.322881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.659988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952894; longitude = -130.020948; captureRadius = 10; duration = 109; initialDepth = 1509.659988; finalDepth = 1510.649430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6628929999999 # Actual altitude: 50 # Commanded vehicle depth:1509.659988 # Seafloor depth:-1556.322881 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.690928 meters # Minimum depth: 1551.163262 meters looking forward 100.000000 meters along route # Maximum depth: 1554.290191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.163262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951994; longitude = -130.020367; captureRadius = 10; duration = 109; initialDepth = 1506.163262; finalDepth = 1509.659988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.126929 # Actual altitude: 50 # Commanded vehicle depth:1506.163262 # Seafloor depth:-1554.290191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.691204 meters # Minimum depth: 1550.591506 meters looking forward 100.000000 meters along route # Maximum depth: 1552.064401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.591506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951094; longitude = -130.019786; captureRadius = 10; duration = 109; initialDepth = 1505.591506; finalDepth = 1506.163262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.126929 # Actual altitude: 50 # Commanded vehicle depth:1505.591506 # Seafloor depth:-1551.349922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.691480 meters # Minimum depth: 1549.982553 meters looking forward 100.000000 meters along route # Maximum depth: 1552.258349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.982553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950194; longitude = -130.019204; captureRadius = 10; duration = 109; initialDepth = 1504.982553; finalDepth = 1505.591506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2757959999999 # Actual altitude: 50 # Commanded vehicle depth:1504.982553 # Seafloor depth:-1552.258349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.691755 meters # Minimum depth: 1549.957318 meters looking forward 100.000000 meters along route # Maximum depth: 1550.272417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.957318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949294; longitude = -130.018623; captureRadius = 10; duration = 109; initialDepth = 1504.957318; finalDepth = 1504.982553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2757959999999 # Actual altitude: 50 # Commanded vehicle depth:1504.957318 # Seafloor depth:-1549.957318 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.692032 meters # Minimum depth: 1550.085542 meters looking forward 100.000000 meters along route # Maximum depth: 1552.907745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.085542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948393; longitude = -130.018042; captureRadius = 10; duration = 109; initialDepth = 1505.085542; finalDepth = 1504.957318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1505.085542 # Seafloor depth:-1550.085542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.692307 meters # Minimum depth: 1549.943473 meters looking forward 100.000000 meters along route # Maximum depth: 1551.819616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.943473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947493; longitude = -130.017460; captureRadius = 10; duration = 109; initialDepth = 1504.943473; finalDepth = 1505.085542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.876143 # Actual altitude: 50 # Commanded vehicle depth:1504.943473 # Seafloor depth:-1551.819616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.692583 meters # Minimum depth: 1549.474984 meters looking forward 100.000000 meters along route # Maximum depth: 1550.876287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.474984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946593; longitude = -130.016879; captureRadius = 10; duration = 109; initialDepth = 1504.474984; finalDepth = 1504.943473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.876143 # Actual altitude: 50 # Commanded vehicle depth:1504.474984 # Seafloor depth:-1549.653192 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.692859 meters # Minimum depth: 1549.046944 meters looking forward 100.000000 meters along route # Maximum depth: 1549.701364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.046944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945693; longitude = -130.016298; captureRadius = 10; duration = 109; initialDepth = 1504.046944; finalDepth = 1504.474984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6544200000001 # Actual altitude: 50 # Commanded vehicle depth:1504.046944 # Seafloor depth:-1549.701364 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.693134 meters # Minimum depth: 1548.554749 meters looking forward 100.000000 meters along route # Maximum depth: 1549.459253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.554749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944793; longitude = -130.015717; captureRadius = 10; duration = 109; initialDepth = 1503.554749; finalDepth = 1504.046944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6544200000001 # Actual altitude: 50 # Commanded vehicle depth:1503.554749 # Seafloor depth:-1549.054907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.693411 meters # Minimum depth: 1549.564979 meters looking forward 100.000000 meters along route # Maximum depth: 1549.984947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.564979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943893; longitude = -130.015135; captureRadius = 10; duration = 109; initialDepth = 1504.564979; finalDepth = 1503.554749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5001580000001 # Actual altitude: 50 # Commanded vehicle depth:1504.564979 # Seafloor depth:-1549.564979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.693686 meters # Minimum depth: 1549.577720 meters looking forward 100.000000 meters along route # Maximum depth: 1550.499989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.577720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942993; longitude = -130.014554; captureRadius = 10; duration = 109; initialDepth = 1504.577720; finalDepth = 1504.564979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1504.57772 # Seafloor depth:-1549.577720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.693962 meters # Minimum depth: 1546.662376 meters looking forward 100.000000 meters along route # Maximum depth: 1550.491076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.662376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942093; longitude = -130.013973; captureRadius = 10; duration = 109; initialDepth = 1501.662376; finalDepth = 1504.577720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8287 # Actual altitude: 50 # Commanded vehicle depth:1501.662376 # Seafloor depth:-1550.491076 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.694238 meters # Minimum depth: 1546.612239 meters looking forward 100.000000 meters along route # Maximum depth: 1548.527329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.612239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941193; longitude = -130.013391; captureRadius = 10; duration = 109; initialDepth = 1501.612239; finalDepth = 1501.662376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8287 # Actual altitude: 50 # Commanded vehicle depth:1501.612239 # Seafloor depth:-1546.612239 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.694514 meters # Minimum depth: 1548.379109 meters looking forward 100.000000 meters along route # Maximum depth: 1548.903547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.379109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940293; longitude = -130.012810; captureRadius = 10; duration = 109; initialDepth = 1503.379109; finalDepth = 1501.612239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1503.379109 # Seafloor depth:-1548.379109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.121546 meters # Minimum depth: 1548.237330 meters looking forward 100.000000 meters along route # Maximum depth: 1548.888977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.237330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939393; longitude = -130.012229; captureRadius = 10; duration = 107; initialDepth = 1503.237330; finalDepth = 1503.379109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6233090000001 # Actual altitude: 50 # Commanded vehicle depth:1503.23733 # Seafloor depth:-1548.860639 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.298790 meters # Minimum depth: 1546.501695 meters looking forward 100.000000 meters along route # Maximum depth: 1548.450450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.501695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938514; longitude = -130.011661; captureRadius = 10; duration = 101; initialDepth = 1501.501695; finalDepth = 1503.237330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.919615 # Actual altitude: 50 # Commanded vehicle depth:1501.501695 # Seafloor depth:-1548.421310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.695313 meters # Minimum depth: 1546.205090 meters looking forward 100.000000 meters along route # Maximum depth: 1547.672448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.205090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937683; longitude = -130.011124; captureRadius = 10; duration = 109; initialDepth = 1501.205090; finalDepth = 1501.501695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.919615 # Actual altitude: 50 # Commanded vehicle depth:1501.20509 # Seafloor depth:-1546.337506 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.672258 meters # Minimum depth: 1546.539701 meters looking forward 100.000000 meters along route # Maximum depth: 1548.809882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.539701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936783; longitude = -130.010543; captureRadius = 10; duration = 105; initialDepth = 1501.539701; finalDepth = 1501.205090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.702599 # Actual altitude: 50 # Commanded vehicle depth:1501.539701 # Seafloor depth:-1548.242300 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.749598 meters # Minimum depth: 1546.257065 meters looking forward 100.000000 meters along route # Maximum depth: 1546.920437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.257065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935915; longitude = -130.009983; captureRadius = 10; duration = 102; initialDepth = 1501.257065; finalDepth = 1501.539701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.702599 # Actual altitude: 50 # Commanded vehicle depth:1501.257065 # Seafloor depth:-1546.472639 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.696114 meters # Minimum depth: 1546.906098 meters looking forward 100.000000 meters along route # Maximum depth: 1548.886380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.906098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935072; longitude = -130.009439; captureRadius = 10; duration = 109; initialDepth = 1501.906098; finalDepth = 1501.257065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2155740000001 # Actual altitude: 50 # Commanded vehicle depth:1501.906098 # Seafloor depth:-1546.906098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.222948 meters # Minimum depth: 1548.267782 meters looking forward 100.000000 meters along route # Maximum depth: 1549.224224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.267782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934172; longitude = -130.008857; captureRadius = 10; duration = 104; initialDepth = 1503.267782; finalDepth = 1501.906098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.343327 # Actual altitude: 50 # Commanded vehicle depth:1503.267782 # Seafloor depth:-1548.611109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.200428 meters # Minimum depth: 1549.303680 meters looking forward 100.000000 meters along route # Maximum depth: 1550.203724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.303680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933317; longitude = -130.008305; captureRadius = 10; duration = 104; initialDepth = 1504.303680; finalDepth = 1503.267782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.343327 # Actual altitude: 50 # Commanded vehicle depth:1504.30368 # Seafloor depth:-1549.303680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.696914 meters # Minimum depth: 1549.649716 meters looking forward 100.000000 meters along route # Maximum depth: 1550.518775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.649716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932462; longitude = -130.007753; captureRadius = 10; duration = 109; initialDepth = 1504.649716; finalDepth = 1504.303680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.78368 # Actual altitude: 50 # Commanded vehicle depth:1504.649716 # Seafloor depth:-1550.433396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.773618 meters # Minimum depth: 1550.010771 meters looking forward 100.000000 meters along route # Maximum depth: 1550.681420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.010771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931562; longitude = -130.007172; captureRadius = 10; duration = 102; initialDepth = 1505.010771; finalDepth = 1504.649716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.78368 # Actual altitude: 50 # Commanded vehicle depth:1505.010771 # Seafloor depth:-1550.010771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.651278 meters # Minimum depth: 1548.999511 meters looking forward 100.000000 meters along route # Maximum depth: 1550.197774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.999511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930719; longitude = -130.006627; captureRadius = 10; duration = 105; initialDepth = 1503.999511; finalDepth = 1505.010771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.198263 # Actual altitude: 50 # Commanded vehicle depth:1503.999511 # Seafloor depth:-1550.197774 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.697713 meters # Minimum depth: 1546.406087 meters looking forward 100.000000 meters along route # Maximum depth: 1548.715840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.406087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929852; longitude = -130.006067; captureRadius = 10; duration = 109; initialDepth = 1501.406087; finalDepth = 1503.999511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.309753 # Actual altitude: 50 # Commanded vehicle depth:1501.406087 # Seafloor depth:-1548.715840 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.324267 meters # Minimum depth: 1544.746710 meters looking forward 100.000000 meters along route # Maximum depth: 1546.798047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.746710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928952; longitude = -130.005486; captureRadius = 10; duration = 101; initialDepth = 1499.746710; finalDepth = 1501.406087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.309753 # Actual altitude: 50 # Commanded vehicle depth:1499.74671 # Seafloor depth:-1546.636702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.102150 meters # Minimum depth: 1545.001500 meters looking forward 100.000000 meters along route # Maximum depth: 1546.185092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.001500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928120; longitude = -130.004949; captureRadius = 10; duration = 107; initialDepth = 1500.001500; finalDepth = 1499.746710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8899920000001 # Actual altitude: 50 # Commanded vehicle depth:1500.0015 # Seafloor depth:-1545.001500 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.898215 meters # Minimum depth: 1546.258156 meters looking forward 100.000000 meters along route # Maximum depth: 1546.618803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.258156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927242; longitude = -130.004381; captureRadius = 10; duration = 109; initialDepth = 1501.258156; finalDepth = 1500.001500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1501.258156 # Seafloor depth:-1546.258156 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 93.030828 meters # Minimum depth: 1544.861769 meters looking forward 100.000000 meters along route # Maximum depth: 1546.570117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.861769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926340; longitude = -130.003799; captureRadius = 10; duration = 93; # abortOnTimeout = True; initialDepth = 1499.861769; finalDepth = 1501.258156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6363389999999 # Actual altitude: 50 # Commanded vehicle depth:1499.861769 # Seafloor depth:-1546.498108 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.598715 meters # Minimum depth: 1544.857929 meters looking forward 100.000000 meters along route # Maximum depth: 1545.299297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.857929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925712; longitude = -130.003006; captureRadius = 10; duration = 106; initialDepth = 1499.857929; finalDepth = 1499.861769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6363389999999 # Actual altitude: 50 # Commanded vehicle depth:1499.857929 # Seafloor depth:-1544.857929 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.599295 meters # Minimum depth: 1543.736037 meters looking forward 100.000000 meters along route # Maximum depth: 1544.969222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.736037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924992; longitude = -130.002098; captureRadius = 10; duration = 106; initialDepth = 1498.736037; finalDepth = 1499.857929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.233185 # Actual altitude: 50 # Commanded vehicle depth:1498.736037 # Seafloor depth:-1544.969222 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.599875 meters # Minimum depth: 1542.794087 meters looking forward 100.000000 meters along route # Maximum depth: 1543.693339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.794087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924271; longitude = -130.001189; captureRadius = 10; duration = 106; initialDepth = 1497.794087; finalDepth = 1498.736037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.233185 # Actual altitude: 50 # Commanded vehicle depth:1497.794087 # Seafloor depth:-1543.693339 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.431028 meters # Minimum depth: 1542.980772 meters looking forward 100.000000 meters along route # Maximum depth: 1544.103413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.980772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923551; longitude = -130.000281; captureRadius = 10; duration = 104; initialDepth = 1497.980772; finalDepth = 1497.794087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8992519999999 # Actual altitude: 50 # Commanded vehicle depth:1497.980772 # Seafloor depth:-1543.058289 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 60.864477 meters # Minimum depth: 1543.239760 meters looking forward 100.000000 meters along route # Maximum depth: 1544.163208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.239760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922846; longitude = -129.999391; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 1498.239760; finalDepth = 1497.980772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.923448 # Actual altitude: 50 # Commanded vehicle depth:1498.23976 # Seafloor depth:-1544.163208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.853532 meters # Minimum depth: 1542.888250 meters looking forward 100.000000 meters along route # Maximum depth: 1543.955107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.888250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922798; longitude = -130.000173; captureRadius = 10; duration = 109; initialDepth = 1497.888250; finalDepth = 1498.239760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.923448 # Actual altitude: 50 # Commanded vehicle depth:1497.88825 # Seafloor depth:-1543.101048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 18 # Segment length 73.911472 meters # Minimum depth: 1543.831150 meters looking forward 100.000000 meters along route # Maximum depth: 1545.138078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.831150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922711; longitude = -130.001584; captureRadius = 10; duration = 73; # abortOnTimeout = True; initialDepth = 1498.831150; finalDepth = 1497.888250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.212798 # Actual altitude: 50 # Commanded vehicle depth:1498.83115 # Seafloor depth:-1543.881226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.090928 meters # Minimum depth: 1545.156974 meters looking forward 100.000000 meters along route # Maximum depth: 1546.279963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.156974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923195; longitude = -130.002238; captureRadius = 10; duration = 102; initialDepth = 1500.156974; finalDepth = 1498.831150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.050076 # Actual altitude: 50 # Commanded vehicle depth:1500.156974 # Seafloor depth:-1545.156974 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.652654 meters # Minimum depth: 1545.710910 meters looking forward 100.000000 meters along route # Maximum depth: 1546.360242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.710910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923863; longitude = -130.003142; captureRadius = 10; duration = 103; initialDepth = 1500.710910; finalDepth = 1500.156974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5955019999999 # Actual altitude: 50 # Commanded vehicle depth:1500.71091 # Seafloor depth:-1546.306412 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.527528 meters # Minimum depth: 1545.440471 meters looking forward 100.000000 meters along route # Maximum depth: 1545.878811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.440471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924541; longitude = -130.004059; captureRadius = 10; duration = 100; initialDepth = 1500.440471; finalDepth = 1500.710910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5955019999999 # Actual altitude: 50 # Commanded vehicle depth:1500.440471 # Seafloor depth:-1545.878811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.907023 meters # Minimum depth: 1544.981337 meters looking forward 100.000000 meters along route # Maximum depth: 1545.386880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.981337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925200; longitude = -130.004949; captureRadius = 10; duration = 100; initialDepth = 1499.981337; finalDepth = 1500.440471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4383400000002 # Actual altitude: 50 # Commanded vehicle depth:1499.981337 # Seafloor depth:-1545.386880 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 3.853174 meters # Minimum depth: 1544.981337 meters looking forward 100.000000 meters along route # Maximum depth: 1545.315399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.981337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925860; longitude = -130.005842; captureRadius = 10; duration = 3; # abortOnTimeout = True; initialDepth = 1499.981337; finalDepth = 1499.981337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4055430000001 # Actual altitude: 50 # Commanded vehicle depth:1499.981337 # Seafloor depth:-1545.315399 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.747634 meters # Minimum depth: 1544.643769 meters looking forward 100.000000 meters along route # Maximum depth: 1545.545641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.643769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925892; longitude = -130.005862; captureRadius = 10; duration = 109; initialDepth = 1499.643769; finalDepth = 1499.981337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6790369999999 # Actual altitude: 50 # Commanded vehicle depth:1499.643769 # Seafloor depth:-1545.322806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.126910 meters # Minimum depth: 1544.598750 meters looking forward 100.000000 meters along route # Maximum depth: 1546.268197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.598750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926792; longitude = -130.006445; captureRadius = 10; duration = 107; initialDepth = 1499.598750; finalDepth = 1499.643769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6790369999999 # Actual altitude: 50 # Commanded vehicle depth:1499.59875 # Seafloor depth:-1544.598750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.392830 meters # Minimum depth: 1545.053076 meters looking forward 100.000000 meters along route # Maximum depth: 1545.987124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.053076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927670; longitude = -130.007014; captureRadius = 10; duration = 101; initialDepth = 1500.053076; finalDepth = 1499.598750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7439450000002 # Actual altitude: 50 # Commanded vehicle depth:1500.053076 # Seafloor depth:-1545.797021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.746830 meters # Minimum depth: 1544.629801 meters looking forward 100.000000 meters along route # Maximum depth: 1546.392081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.629801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928502; longitude = -130.007553; captureRadius = 10; duration = 109; initialDepth = 1499.629801; finalDepth = 1500.053076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7439450000002 # Actual altitude: 50 # Commanded vehicle depth:1499.629801 # Seafloor depth:-1545.254633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.841260 meters # Minimum depth: 1545.689486 meters looking forward 100.000000 meters along route # Maximum depth: 1547.741739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.689486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929402; longitude = -130.008135; captureRadius = 10; duration = 104; initialDepth = 1500.689486; finalDepth = 1499.629801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.624832 # Actual altitude: 50 # Commanded vehicle depth:1500.689486 # Seafloor depth:-1545.689486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.676953 meters # Minimum depth: 1547.552596 meters looking forward 100.000000 meters along route # Maximum depth: 1549.307352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.552596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930262; longitude = -130.008692; captureRadius = 10; duration = 103; initialDepth = 1502.552596; finalDepth = 1500.689486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.340868 # Actual altitude: 50 # Commanded vehicle depth:1502.552596 # Seafloor depth:-1547.893464 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.746026 meters # Minimum depth: 1548.779517 meters looking forward 100.000000 meters along route # Maximum depth: 1549.660200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.779517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931112; longitude = -130.009243; captureRadius = 10; duration = 109; initialDepth = 1503.779517; finalDepth = 1502.552596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7231940000001 # Actual altitude: 50 # Commanded vehicle depth:1503.779517 # Seafloor depth:-1549.502711 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.555642 meters # Minimum depth: 1547.560150 meters looking forward 100.000000 meters along route # Maximum depth: 1548.693837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.560150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932012; longitude = -130.009826; captureRadius = 10; duration = 102; initialDepth = 1502.560150; finalDepth = 1503.779517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.133687 # Actual altitude: 50 # Commanded vehicle depth:1502.56015 # Seafloor depth:-1548.693837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.961043 meters # Minimum depth: 1546.615915 meters looking forward 100.000000 meters along route # Maximum depth: 1547.725910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.615915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932853; longitude = -130.010370; captureRadius = 10; duration = 105; initialDepth = 1501.615915; finalDepth = 1502.560150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.133687 # Actual altitude: 50 # Commanded vehicle depth:1501.615915 # Seafloor depth:-1547.725910 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.745222 meters # Minimum depth: 1545.544320 meters looking forward 100.000000 meters along route # Maximum depth: 1546.875338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.544320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933722; longitude = -130.010933; captureRadius = 10; duration = 109; initialDepth = 1500.544320; finalDepth = 1501.615915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.326675 # Actual altitude: 50 # Commanded vehicle depth:1500.54432 # Seafloor depth:-1546.870995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.270058 meters # Minimum depth: 1545.423668 meters looking forward 100.000000 meters along route # Maximum depth: 1546.028536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.423668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934622; longitude = -130.011516; captureRadius = 10; duration = 100; initialDepth = 1500.423668; finalDepth = 1500.544320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.326675 # Actual altitude: 50 # Commanded vehicle depth:1500.423668 # Seafloor depth:-1545.461929 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.245099 meters # Minimum depth: 1545.526841 meters looking forward 100.000000 meters along route # Maximum depth: 1548.849762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.526841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935445; longitude = -130.012048; captureRadius = 10; duration = 108; initialDepth = 1500.526841; finalDepth = 1500.423668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0382610000001 # Actual altitude: 50 # Commanded vehicle depth:1500.526841 # Seafloor depth:-1545.544043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.506393 meters # Minimum depth: 1549.288845 meters looking forward 100.000000 meters along route # Maximum depth: 1551.104501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.288845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936332; longitude = -130.012623; captureRadius = 10; duration = 110; initialDepth = 1504.288845; finalDepth = 1500.526841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.017202 # Actual altitude: 50 # Commanded vehicle depth:1504.288845 # Seafloor depth:-1549.288845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.982165 meters # Minimum depth: 1550.916353 meters looking forward 100.000000 meters along route # Maximum depth: 1551.829966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.916353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937239; longitude = -130.013210; captureRadius = 10; duration = 108; initialDepth = 1505.916353; finalDepth = 1504.288845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1505.916353 # Seafloor depth:-1550.916353 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.768226 meters # Minimum depth: 1549.592315 meters looking forward 100.000000 meters along route # Maximum depth: 1552.113212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.592315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938133; longitude = -130.013789; captureRadius = 10; duration = 109; initialDepth = 1504.592315; finalDepth = 1505.916353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.506312 # Actual altitude: 50 # Commanded vehicle depth:1504.592315 # Seafloor depth:-1552.098627 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.719223 meters # Minimum depth: 1547.976160 meters looking forward 100.000000 meters along route # Maximum depth: 1549.591804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.976160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939033; longitude = -130.014372; captureRadius = 10; duration = 109; initialDepth = 1502.976160; finalDepth = 1504.592315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.506312 # Actual altitude: 50 # Commanded vehicle depth:1502.97616 # Seafloor depth:-1549.591804 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.743308 meters # Minimum depth: 1547.667349 meters looking forward 100.000000 meters along route # Maximum depth: 1548.987477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.667349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939933; longitude = -130.014955; captureRadius = 10; duration = 109; initialDepth = 1502.667349; finalDepth = 1502.976160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.615644 # Actual altitude: 50 # Commanded vehicle depth:1502.667349 # Seafloor depth:-1548.266010 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.743032 meters # Minimum depth: 1547.444335 meters looking forward 100.000000 meters along route # Maximum depth: 1549.639143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.444335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940833; longitude = -130.015537; captureRadius = 10; duration = 109; initialDepth = 1502.444335; finalDepth = 1502.667349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.598661 # Actual altitude: 50 # Commanded vehicle depth:1502.444335 # Seafloor depth:-1547.644066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.742754 meters # Minimum depth: 1548.749527 meters looking forward 100.000000 meters along route # Maximum depth: 1549.432635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.749527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941733; longitude = -130.016120; captureRadius = 10; duration = 109; initialDepth = 1503.749527; finalDepth = 1502.444335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6831079999999 # Actual altitude: 50 # Commanded vehicle depth:1503.749527 # Seafloor depth:-1549.432635 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.742477 meters # Minimum depth: 1548.936091 meters looking forward 100.000000 meters along route # Maximum depth: 1549.803072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.936091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942633; longitude = -130.016703; captureRadius = 10; duration = 109; initialDepth = 1503.936091; finalDepth = 1503.749527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6831079999999 # Actual altitude: 50 # Commanded vehicle depth:1503.936091 # Seafloor depth:-1548.936091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.553770 meters # Minimum depth: 1548.137147 meters looking forward 100.000000 meters along route # Maximum depth: 1549.328250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.137147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943533; longitude = -130.017286; captureRadius = 10; duration = 107; initialDepth = 1503.137147; finalDepth = 1503.936091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1911030000001 # Actual altitude: 50 # Commanded vehicle depth:1503.137147 # Seafloor depth:-1549.328250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.956172 meters # Minimum depth: 1548.887731 meters looking forward 100.000000 meters along route # Maximum depth: 1551.807847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.887731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944415; longitude = -130.017857; captureRadius = 10; duration = 100; initialDepth = 1503.887731; finalDepth = 1503.137147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1911030000001 # Actual altitude: 50 # Commanded vehicle depth:1503.887731 # Seafloor depth:-1548.887731 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.741673 meters # Minimum depth: 1550.461864 meters looking forward 100.000000 meters along route # Maximum depth: 1550.950965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.461864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945243; longitude = -130.018393; captureRadius = 10; duration = 109; initialDepth = 1505.461864; finalDepth = 1503.887731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4891009999999 # Actual altitude: 50 # Commanded vehicle depth:1505.461864 # Seafloor depth:-1550.950965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.268224 meters # Minimum depth: 1550.575463 meters looking forward 100.000000 meters along route # Maximum depth: 1551.254706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.575463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946143; longitude = -130.018976; captureRadius = 10; duration = 105; initialDepth = 1505.575463; finalDepth = 1505.461864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4891009999999 # Actual altitude: 50 # Commanded vehicle depth:1505.575463 # Seafloor depth:-1550.575463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.240191 meters # Minimum depth: 1550.702527 meters looking forward 100.000000 meters along route # Maximum depth: 1551.154909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.702527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947007; longitude = -130.019535; captureRadius = 10; duration = 103; initialDepth = 1505.702527; finalDepth = 1505.575463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3709570000001 # Actual altitude: 50 # Commanded vehicle depth:1505.702527 # Seafloor depth:-1551.073484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.740869 meters # Minimum depth: 1549.897768 meters looking forward 100.000000 meters along route # Maximum depth: 1551.227462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.897768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947853; longitude = -130.020083; captureRadius = 10; duration = 109; initialDepth = 1504.897768; finalDepth = 1505.702527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.329694 # Actual altitude: 50 # Commanded vehicle depth:1504.897768 # Seafloor depth:-1551.227462 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.982711 meters # Minimum depth: 1550.400800 meters looking forward 100.000000 meters along route # Maximum depth: 1552.167028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.400800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948754; longitude = -130.020666; captureRadius = 10; duration = 102; initialDepth = 1505.400800; finalDepth = 1504.897768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.329694 # Actual altitude: 50 # Commanded vehicle depth:1505.4008 # Seafloor depth:-1550.400800 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.524176 meters # Minimum depth: 1551.202580 meters looking forward 100.000000 meters along route # Maximum depth: 1552.584934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.202580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949598; longitude = -130.021213; captureRadius = 10; duration = 105; initialDepth = 1506.202580; finalDepth = 1505.400800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0284590000001 # Actual altitude: 50 # Commanded vehicle depth:1506.20258 # Seafloor depth:-1552.231039 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.740065 meters # Minimum depth: 1551.034600 meters looking forward 100.000000 meters along route # Maximum depth: 1551.176992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.034600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950464; longitude = -130.021774; captureRadius = 10; duration = 109; initialDepth = 1506.034600; finalDepth = 1506.202580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0284590000001 # Actual altitude: 50 # Commanded vehicle depth:1506.0346 # Seafloor depth:-1551.176992 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.697232 meters # Minimum depth: 1550.593894 meters looking forward 100.000000 meters along route # Maximum depth: 1551.139775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.593894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951364; longitude = -130.022357; captureRadius = 10; duration = 100; initialDepth = 1505.593894; finalDepth = 1506.034600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4770859999999 # Actual altitude: 50 # Commanded vehicle depth:1505.593894 # Seafloor depth:-1551.070980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.808129 meters # Minimum depth: 1550.645242 meters looking forward 100.000000 meters along route # Maximum depth: 1552.407354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.645242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952190; longitude = -130.022891; captureRadius = 10; duration = 107; initialDepth = 1505.645242; finalDepth = 1505.593894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4770859999999 # Actual altitude: 50 # Commanded vehicle depth:1505.645242 # Seafloor depth:-1550.692053 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.933083 meters # Minimum depth: 1552.526078 meters looking forward 100.000000 meters along route # Maximum depth: 1554.016584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.526078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953074; longitude = -130.023464; captureRadius = 10; duration = 110; initialDepth = 1507.526078; finalDepth = 1505.645242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.066163 # Actual altitude: 50 # Commanded vehicle depth:1507.526078 # Seafloor depth:-1552.592241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.545162 meters # Minimum depth: 1552.520202 meters looking forward 100.000000 meters along route # Maximum depth: 1553.964872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.520202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953984; longitude = -130.024053; captureRadius = 10; duration = 108; initialDepth = 1507.520202; finalDepth = 1507.526078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4446700000001 # Actual altitude: 50 # Commanded vehicle depth:1507.520202 # Seafloor depth:-1553.964872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.194949 meters # Minimum depth: 1552.943301 meters looking forward 100.000000 meters along route # Maximum depth: 1556.881161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.943301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954874; longitude = -130.024630; captureRadius = 10; duration = 110; initialDepth = 1507.943301; finalDepth = 1507.520202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4446700000001 # Actual altitude: 50 # Commanded vehicle depth:1507.943301 # Seafloor depth:-1552.943301 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.282188 meters # Minimum depth: 1556.886654 meters looking forward 100.000000 meters along route # Maximum depth: 1560.991499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.886654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955778; longitude = -130.025215; captureRadius = 10; duration = 109; initialDepth = 1511.886654; finalDepth = 1507.943301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1511.886654 # Seafloor depth:-1556.886654 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.320888 meters # Minimum depth: 1561.857098 meters looking forward 100.000000 meters along route # Maximum depth: 1567.409114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.857098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956674; longitude = -130.025795; captureRadius = 10; duration = 100; initialDepth = 1516.857098; finalDepth = 1511.886654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1516.857098 # Seafloor depth:-1561.857098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69.904269 meters # Minimum depth: 1566.019223 meters looking forward 100.000000 meters along route # Maximum depth: 1567.399048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.019223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957497; longitude = -130.026328; captureRadius = 10; duration = 69; # abortOnTimeout = True; initialDepth = 1521.019223; finalDepth = 1516.857098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.379825 # Actual altitude: 50 # Commanded vehicle depth:1521.019223 # Seafloor depth:-1567.399048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.054878 meters # Minimum depth: 1566.117951 meters looking forward 100.000000 meters along route # Maximum depth: 1568.906308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.117951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957240; longitude = -130.027151; captureRadius = 10; duration = 100; initialDepth = 1521.117951; finalDepth = 1521.019223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.379825 # Actual altitude: 50 # Commanded vehicle depth:1521.117951 # Seafloor depth:-1566.117951 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 89.785324 meters # Minimum depth: 1563.561588 meters looking forward 100.000000 meters along route # Maximum depth: 1567.591888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.561588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956871; longitude = -130.028329; captureRadius = 10; duration = 89; # abortOnTimeout = True; initialDepth = 1518.561588; finalDepth = 1521.117951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0302999999999 # Actual altitude: 50 # Commanded vehicle depth:1518.561588 # Seafloor depth:-1567.591888 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.315728 meters # Minimum depth: 1554.373942 meters looking forward 100.000000 meters along route # Maximum depth: 1562.705394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.373942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956134; longitude = -130.027854; captureRadius = 10; duration = 108; initialDepth = 1509.373942; finalDepth = 1518.561588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3314520000001 # Actual altitude: 53.3314520000001 # Commanded vehicle depth:1509.373942 # Seafloor depth:-1562.705394 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.057920 meters # Minimum depth: 1551.630096 meters looking forward 100.000000 meters along route # Maximum depth: 1553.371140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.630096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955245; longitude = -130.027280; captureRadius = 10; duration = 100; initialDepth = 1506.630096; finalDepth = 1509.373942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3314520000001 # Actual altitude: 53.3314520000001 # Commanded vehicle depth:1506.630096 # Seafloor depth:-1553.371140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.670740 meters # Minimum depth: 1550.919735 meters looking forward 100.000000 meters along route # Maximum depth: 1551.872697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.919735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954424; longitude = -130.026750; captureRadius = 10; duration = 109; initialDepth = 1505.919735; finalDepth = 1506.630096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7410439999999 # Actual altitude: 50 # Commanded vehicle depth:1505.919735 # Seafloor depth:-1551.848924 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.201316 meters # Minimum depth: 1550.813933 meters looking forward 100.000000 meters along route # Maximum depth: 1551.274212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.813933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953524; longitude = -130.026170; captureRadius = 10; duration = 107; initialDepth = 1505.813933; finalDepth = 1505.919735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.929189 # Actual altitude: 50 # Commanded vehicle depth:1505.813933 # Seafloor depth:-1551.206384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.173849 meters # Minimum depth: 1549.721570 meters looking forward 100.000000 meters along route # Maximum depth: 1550.741768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.721570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952644; longitude = -130.025602; captureRadius = 10; duration = 101; initialDepth = 1504.721570; finalDepth = 1505.813933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.811042 # Actual altitude: 50 # Commanded vehicle depth:1504.72157 # Seafloor depth:-1550.532612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.671538 meters # Minimum depth: 1550.585366 meters looking forward 100.000000 meters along route # Maximum depth: 1551.345459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.585366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951814; longitude = -130.025066; captureRadius = 10; duration = 109; initialDepth = 1505.585366; finalDepth = 1504.721570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.811042 # Actual altitude: 50 # Commanded vehicle depth:1505.585366 # Seafloor depth:-1550.808135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.086886 meters # Minimum depth: 1550.707049 meters looking forward 100.000000 meters along route # Maximum depth: 1551.523276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.707049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950914; longitude = -130.024486; captureRadius = 10; duration = 106; initialDepth = 1505.707049; finalDepth = 1505.585366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8162269999998 # Actual altitude: 50 # Commanded vehicle depth:1505.707049 # Seafloor depth:-1551.523276 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.289795 meters # Minimum depth: 1551.134683 meters looking forward 100.000000 meters along route # Maximum depth: 1554.897383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.134683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950043; longitude = -130.023924; captureRadius = 10; duration = 102; initialDepth = 1506.134683; finalDepth = 1505.707049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8162269999998 # Actual altitude: 50 # Commanded vehicle depth:1506.134683 # Seafloor depth:-1551.140615 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.672336 meters # Minimum depth: 1555.470022 meters looking forward 100.000000 meters along route # Maximum depth: 1557.177296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.470022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949204; longitude = -130.023382; captureRadius = 10; duration = 109; initialDepth = 1510.470022; finalDepth = 1506.134683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.005932 # Actual altitude: 50 # Commanded vehicle depth:1510.470022 # Seafloor depth:-1555.470022 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.972440 meters # Minimum depth: 1552.172197 meters looking forward 100.000000 meters along route # Maximum depth: 1556.578150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.172197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948303; longitude = -130.022802; captureRadius = 10; duration = 104; initialDepth = 1507.172197; finalDepth = 1510.470022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.405953 # Actual altitude: 50 # Commanded vehicle depth:1507.172197 # Seafloor depth:-1556.578150 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.405757 meters # Minimum depth: 1551.128435 meters looking forward 100.000000 meters along route # Maximum depth: 1552.052061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.128435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947442; longitude = -130.022246; captureRadius = 10; duration = 103; initialDepth = 1506.128435; finalDepth = 1507.172197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.405953 # Actual altitude: 50 # Commanded vehicle depth:1506.128435 # Seafloor depth:-1551.708861 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.673134 meters # Minimum depth: 1551.946616 meters looking forward 100.000000 meters along route # Maximum depth: 1553.235702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.946616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946593; longitude = -130.021698; captureRadius = 10; duration = 109; initialDepth = 1506.946616; finalDepth = 1506.128435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.580426 # Actual altitude: 50 # Commanded vehicle depth:1506.946616 # Seafloor depth:-1551.946616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.857979 meters # Minimum depth: 1550.311739 meters looking forward 100.000000 meters along route # Maximum depth: 1552.262407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.311739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945693; longitude = -130.021118; captureRadius = 10; duration = 103; initialDepth = 1505.311739; finalDepth = 1506.946616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.950668 # Actual altitude: 50 # Commanded vehicle depth:1505.311739 # Seafloor depth:-1552.262407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.521734 meters # Minimum depth: 1549.104595 meters looking forward 100.000000 meters along route # Maximum depth: 1550.165505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.104595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944841; longitude = -130.020568; captureRadius = 10; duration = 104; initialDepth = 1504.104595; finalDepth = 1505.311739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.950668 # Actual altitude: 50 # Commanded vehicle depth:1504.104595 # Seafloor depth:-1550.165505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.673933 meters # Minimum depth: 1548.945558 meters looking forward 100.000000 meters along route # Maximum depth: 1550.082632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.945558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943983; longitude = -130.020014; captureRadius = 10; duration = 109; initialDepth = 1503.945558; finalDepth = 1504.104595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0609099999999 # Actual altitude: 50 # Commanded vehicle depth:1503.945558 # Seafloor depth:-1549.696196 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.743501 meters # Minimum depth: 1546.466646 meters looking forward 100.000000 meters along route # Maximum depth: 1549.299661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.466646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943083; longitude = -130.019434; captureRadius = 10; duration = 102; initialDepth = 1501.466646; finalDepth = 1503.945558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7509419999999 # Actual altitude: 50 # Commanded vehicle depth:1501.466646 # Seafloor depth:-1549.217588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.637728 meters # Minimum depth: 1546.422941 meters looking forward 100.000000 meters along route # Maximum depth: 1547.774966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.422941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942240; longitude = -130.018890; captureRadius = 10; duration = 105; initialDepth = 1501.422941; finalDepth = 1501.466646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7509419999999 # Actual altitude: 50 # Commanded vehicle depth:1501.422941 # Seafloor depth:-1546.506127 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.674731 meters # Minimum depth: 1546.160588 meters looking forward 100.000000 meters along route # Maximum depth: 1547.560830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.160588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941373; longitude = -130.018330; captureRadius = 10; duration = 109; initialDepth = 1501.160588; finalDepth = 1501.422941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0831860000001 # Actual altitude: 50 # Commanded vehicle depth:1501.160588 # Seafloor depth:-1546.160588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.629007 meters # Minimum depth: 1546.611388 meters looking forward 100.000000 meters along route # Maximum depth: 1547.424595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.611388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940473; longitude = -130.017750; captureRadius = 10; duration = 101; initialDepth = 1501.611388; finalDepth = 1501.160588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0116820000001 # Actual altitude: 50 # Commanded vehicle depth:1501.611388 # Seafloor depth:-1546.623070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.753739 meters # Minimum depth: 1547.467132 meters looking forward 100.000000 meters along route # Maximum depth: 1551.568607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.467132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939639; longitude = -130.017212; captureRadius = 10; duration = 106; initialDepth = 1502.467132; finalDepth = 1501.611388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0116820000001 # Actual altitude: 50 # Commanded vehicle depth:1502.467132 # Seafloor depth:-1547.467132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.675529 meters # Minimum depth: 1550.706729 meters looking forward 100.000000 meters along route # Maximum depth: 1552.005682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.706729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938763; longitude = -130.016646; captureRadius = 10; duration = 109; initialDepth = 1505.706729; finalDepth = 1502.467132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8365180000001 # Actual altitude: 50 # Commanded vehicle depth:1505.706729 # Seafloor depth:-1551.543247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.514497 meters # Minimum depth: 1551.348125 meters looking forward 100.000000 meters along route # Maximum depth: 1551.918748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.348125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937863; longitude = -130.016066; captureRadius = 10; duration = 100; initialDepth = 1506.348125; finalDepth = 1505.706729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8365180000001 # Actual altitude: 50 # Commanded vehicle depth:1506.348125 # Seafloor depth:-1551.918748 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.869765 meters # Minimum depth: 1550.931355 meters looking forward 100.000000 meters along route # Maximum depth: 1551.316745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.931355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937038; longitude = -130.015534; captureRadius = 10; duration = 107; initialDepth = 1505.931355; finalDepth = 1506.348125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5706230000001 # Actual altitude: 50 # Commanded vehicle depth:1505.931355 # Seafloor depth:-1551.316745 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.210158 meters # Minimum depth: 1549.560570 meters looking forward 100.000000 meters along route # Maximum depth: 1550.965977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.560570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936152; longitude = -130.014963; captureRadius = 10; duration = 110; initialDepth = 1504.560570; finalDepth = 1505.931355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.405407 # Actual altitude: 50 # Commanded vehicle depth:1504.56057 # Seafloor depth:-1550.965977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 89.762376 meters # Minimum depth: 1547.779345 meters looking forward 100.000000 meters along route # Maximum depth: 1549.770592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.779345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935248; longitude = -130.014379; captureRadius = 10; duration = 89; # abortOnTimeout = True; initialDepth = 1502.779345; finalDepth = 1504.560570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7534310000001 # Actual altitude: 50 # Commanded vehicle depth:1502.779345 # Seafloor depth:-1549.532776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 29.607694 meters # Minimum depth: 1547.779345 meters looking forward 100.000000 meters along route # Maximum depth: 1549.770592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.779345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934948; longitude = -130.015454; captureRadius = 10; duration = 29; # abortOnTimeout = True; initialDepth = 1502.779345; finalDepth = 1502.779345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7534310000001 # Actual altitude: 50 # Commanded vehicle depth:1502.779345 # Seafloor depth:-1548.026306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.716018 meters # Minimum depth: 1549.542060 meters looking forward 100.000000 meters along route # Maximum depth: 1550.502080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.542060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935171; longitude = -130.015663; captureRadius = 10; duration = 107; initialDepth = 1504.542060; finalDepth = 1502.779345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2469610000001 # Actual altitude: 50 # Commanded vehicle depth:1504.54206 # Seafloor depth:-1549.774924 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.430848 meters # Minimum depth: 1550.568207 meters looking forward 100.000000 meters along route # Maximum depth: 1553.067320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.568207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935983; longitude = -130.016422; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1505.568207; finalDepth = 1504.542060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2328640000001 # Actual altitude: 50 # Commanded vehicle depth:1505.568207 # Seafloor depth:-1550.568207 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.834809 meters # Minimum depth: 1551.774556 meters looking forward 100.000000 meters along route # Maximum depth: 1552.706040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.774556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936783; longitude = -130.017026; captureRadius = 10; duration = 106; initialDepth = 1506.774556; finalDepth = 1505.568207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.931484 # Actual altitude: 50 # Commanded vehicle depth:1506.774556 # Seafloor depth:-1552.706040 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 52.076393 meters # Minimum depth: 1551.088650 meters looking forward 100.000000 meters along route # Maximum depth: 1552.529050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.088650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937633; longitude = -130.017669; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 1506.088650; finalDepth = 1506.774556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.931484 # Actual altitude: 50 # Commanded vehicle depth:1506.08865 # Seafloor depth:-1551.474823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.988055 meters # Minimum depth: 1551.284165 meters looking forward 100.000000 meters along route # Maximum depth: 1552.368130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.284165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938043; longitude = -130.017995; captureRadius = 10; duration = 102; initialDepth = 1506.284165; finalDepth = 1506.088650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.813443 # Actual altitude: 50 # Commanded vehicle depth:1506.284165 # Seafloor depth:-1552.097608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.256901 meters # Minimum depth: 1550.683990 meters looking forward 100.000000 meters along route # Maximum depth: 1551.753297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.683990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938853; longitude = -130.018641; captureRadius = 10; duration = 102; initialDepth = 1505.683990; finalDepth = 1506.284165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.069307 # Actual altitude: 50 # Commanded vehicle depth:1505.68399 # Seafloor depth:-1551.753297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 33.966249 meters # Minimum depth: 1550.511902 meters looking forward 100.000000 meters along route # Maximum depth: 1552.822138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.511902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939657; longitude = -130.019282; captureRadius = 10; duration = 33; # abortOnTimeout = True; initialDepth = 1505.511902; finalDepth = 1505.683990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.069307 # Actual altitude: 50 # Commanded vehicle depth:1505.511902 # Seafloor depth:-1550.511902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.860556 meters # Minimum depth: 1548.914349 meters looking forward 100.000000 meters along route # Maximum depth: 1553.396756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.914349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939933; longitude = -130.019471; captureRadius = 10; duration = 110; initialDepth = 1503.914349; finalDepth = 1505.511902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4824070000002 # Actual altitude: 50 # Commanded vehicle depth:1503.914349 # Seafloor depth:-1553.396756 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.130985 meters # Minimum depth: 1547.639629 meters looking forward 100.000000 meters along route # Maximum depth: 1548.823502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.639629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940833; longitude = -130.020088; captureRadius = 10; duration = 110; initialDepth = 1502.639629; finalDepth = 1503.914349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4824070000002 # Actual altitude: 50 # Commanded vehicle depth:1502.639629 # Seafloor depth:-1548.803348 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 42.863757 meters # Minimum depth: 1546.275721 meters looking forward 100.000000 meters along route # Maximum depth: 1548.479948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.275721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941727; longitude = -130.020701; captureRadius = 10; duration = 42; # abortOnTimeout = True; initialDepth = 1501.275721; finalDepth = 1502.639629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4619190000001 # Actual altitude: 50 # Commanded vehicle depth:1501.275721 # Seafloor depth:-1547.737640 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.425507 meters # Minimum depth: 1544.033689 meters looking forward 100.000000 meters along route # Maximum depth: 1545.646079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.033689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942093; longitude = -130.020876; captureRadius = 10; duration = 105; initialDepth = 1499.033689; finalDepth = 1501.275721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.61239 # Actual altitude: 50 # Commanded vehicle depth:1499.033689 # Seafloor depth:-1545.646079 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.593637 meters # Minimum depth: 1545.640688 meters looking forward 100.000000 meters along route # Maximum depth: 1547.161130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.640688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942993; longitude = -130.021306; captureRadius = 10; duration = 104; initialDepth = 1500.640688; finalDepth = 1499.033689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.61239 # Actual altitude: 50 # Commanded vehicle depth:1500.640688 # Seafloor depth:-1545.640688 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 0.877398 meters # Minimum depth: 1545.796287 meters looking forward 100.000000 meters along route # Maximum depth: 1547.201752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.796287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943886; longitude = -130.021733; captureRadius = 10; duration = 0; # abortOnTimeout = True; initialDepth = 1500.796287; finalDepth = 1500.640688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.405465 # Actual altitude: 50 # Commanded vehicle depth:1500.796287 # Seafloor depth:-1547.201752 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.093550 meters # Minimum depth: 1547.213135 meters looking forward 100.000000 meters along route # Maximum depth: 1552.298330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.213135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943893; longitude = -130.021738; captureRadius = 10; duration = 100; initialDepth = 1502.213135; finalDepth = 1500.796287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.405465 # Actual altitude: 50 # Commanded vehicle depth:1502.213135 # Seafloor depth:-1547.213135 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.052641 meters # Minimum depth: 1553.032570 meters looking forward 100.000000 meters along route # Maximum depth: 1554.525228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.032570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944703; longitude = -130.022303; captureRadius = 10; duration = 101; initialDepth = 1508.032570; finalDepth = 1502.213135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0488439999999 # Actual altitude: 50 # Commanded vehicle depth:1508.03257 # Seafloor depth:-1553.081414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 3.728275 meters # Minimum depth: 1553.032570 meters looking forward 100.000000 meters along route # Maximum depth: 1554.525228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.032570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945521; longitude = -130.022873; captureRadius = 10; duration = 3; # abortOnTimeout = True; initialDepth = 1508.032570; finalDepth = 1508.032570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2997359999999 # Actual altitude: 50 # Commanded vehicle depth:1508.03257 # Seafloor depth:-1553.332306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.166954 meters # Minimum depth: 1553.085517 meters looking forward 100.000000 meters along route # Maximum depth: 1557.045834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.085517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945552; longitude = -130.022891; captureRadius = 10; duration = 105; initialDepth = 1508.085517; finalDepth = 1508.032570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2997359999999 # Actual altitude: 50 # Commanded vehicle depth:1508.085517 # Seafloor depth:-1553.099068 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.581971 meters # Minimum depth: 1557.044340 meters looking forward 100.000000 meters along route # Maximum depth: 1557.362350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.044340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946427; longitude = -130.023408; captureRadius = 10; duration = 105; initialDepth = 1512.044340; finalDepth = 1508.085517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0295090000002 # Actual altitude: 50 # Commanded vehicle depth:1512.04434 # Seafloor depth:-1557.073849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 12.295608 meters # Minimum depth: 1557.044340 meters looking forward 100.000000 meters along route # Maximum depth: 1557.362350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.044340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947306; longitude = -130.023926; captureRadius = 10; duration = 12; # abortOnTimeout = True; initialDepth = 1512.044340; finalDepth = 1512.044340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2402360000001 # Actual altitude: 50 # Commanded vehicle depth:1512.04434 # Seafloor depth:-1557.284576 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.268357 meters # Minimum depth: 1556.827310 meters looking forward 100.000000 meters along route # Maximum depth: 1557.213387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.827310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947403; longitude = -130.024001; captureRadius = 10; duration = 102; initialDepth = 1511.827310; finalDepth = 1512.044340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3860770000001 # Actual altitude: 50 # Commanded vehicle depth:1511.82731 # Seafloor depth:-1557.213387 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.085069 meters # Minimum depth: 1557.087781 meters looking forward 100.000000 meters along route # Maximum depth: 1559.196459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.087781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948213; longitude = -130.024628; captureRadius = 10; duration = 103; initialDepth = 1512.087781; finalDepth = 1511.827310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3860770000001 # Actual altitude: 50 # Commanded vehicle depth:1512.087781 # Seafloor depth:-1557.087781 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 95.572063 meters # Minimum depth: 1555.496660 meters looking forward 100.000000 meters along route # Maximum depth: 1559.196459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.496660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949030; longitude = -130.025259; captureRadius = 10; duration = 95; # abortOnTimeout = True; initialDepth = 1510.496660; finalDepth = 1512.087781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6285539999999 # Actual altitude: 50 # Commanded vehicle depth:1510.49666 # Seafloor depth:-1559.125214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.242503 meters # Minimum depth: 1550.846178 meters looking forward 100.000000 meters along route # Maximum depth: 1555.310086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.846178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949856; longitude = -130.025602; captureRadius = 10; duration = 102; initialDepth = 1505.846178; finalDepth = 1510.496660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4639079999999 # Actual altitude: 50 # Commanded vehicle depth:1505.846178 # Seafloor depth:-1555.310086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 85.412721 meters # Minimum depth: 1551.063545 meters looking forward 100.000000 meters along route # Maximum depth: 1551.863603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.063545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950740; longitude = -130.025969; captureRadius = 10; duration = 85; # abortOnTimeout = True; initialDepth = 1506.063545; finalDepth = 1505.846178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4639079999999 # Actual altitude: 50 # Commanded vehicle depth:1506.063545 # Seafloor depth:-1551.526825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.068578 meters # Minimum depth: 1551.251490 meters looking forward 100.000000 meters along route # Maximum depth: 1552.327719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.251490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951454; longitude = -130.026378; captureRadius = 10; duration = 103; initialDepth = 1506.251490; finalDepth = 1506.063545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4632799999999 # Actual altitude: 50 # Commanded vehicle depth:1506.25149 # Seafloor depth:-1551.319322 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 44.495333 meters # Minimum depth: 1551.258276 meters looking forward 100.000000 meters along route # Maximum depth: 1552.586408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.258276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952315; longitude = -130.026872; captureRadius = 10; duration = 44; # abortOnTimeout = True; initialDepth = 1506.258276; finalDepth = 1506.251490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.151758 # Actual altitude: 50 # Commanded vehicle depth:1506.258276 # Seafloor depth:-1552.410034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.329768 meters # Minimum depth: 1551.053627 meters looking forward 100.000000 meters along route # Maximum depth: 1552.351025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.053627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952714; longitude = -130.026821; captureRadius = 10; duration = 104; initialDepth = 1506.053627; finalDepth = 1506.258276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2363800000001 # Actual altitude: 50 # Commanded vehicle depth:1506.053627 # Seafloor depth:-1552.290007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 49.530889 meters # Minimum depth: 1550.937402 meters looking forward 100.000000 meters along route # Maximum depth: 1551.759964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.937402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953649; longitude = -130.026700; captureRadius = 10; duration = 49; # abortOnTimeout = True; initialDepth = 1505.937402; finalDepth = 1506.053627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2363800000001 # Actual altitude: 50 # Commanded vehicle depth:1505.937402 # Seafloor depth:-1551.008240 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.870657 meters # Minimum depth: 1551.008579 meters looking forward 100.000000 meters along route # Maximum depth: 1551.586462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.008579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954064; longitude = -130.026467; captureRadius = 10; duration = 100; initialDepth = 1506.008579; finalDepth = 1505.937402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3248979999998 # Actual altitude: 50 # Commanded vehicle depth:1506.008579 # Seafloor depth:-1551.333477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 30.165433 meters # Minimum depth: 1550.896606 meters looking forward 100.000000 meters along route # Maximum depth: 1552.024372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.896606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954909; longitude = -130.025991; captureRadius = 10; duration = 30; # abortOnTimeout = True; initialDepth = 1505.896606; finalDepth = 1506.008579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3248979999998 # Actual altitude: 50 # Commanded vehicle depth:1505.896606 # Seafloor depth:-1550.896606 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105637 meters # Minimum depth: 1552.536658 meters looking forward 100.000000 meters along route # Maximum depth: 1553.190038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.536658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954899; longitude = -130.025602; captureRadius = 10; duration = 100; initialDepth = 1507.536658; finalDepth = 1505.896606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1507.536658 # Seafloor depth:-1552.536658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105677 meters # Minimum depth: 1553.226768 meters looking forward 100.000000 meters along route # Maximum depth: 1556.171770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.226768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954867; longitude = -130.024311; captureRadius = 10; duration = 100; initialDepth = 1508.226768; finalDepth = 1507.536658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1508.226768 # Seafloor depth:-1553.226768 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105716 meters # Minimum depth: 1556.873736 meters looking forward 100.000000 meters along route # Maximum depth: 1560.858365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.873736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954834; longitude = -130.023020; captureRadius = 10; duration = 100; initialDepth = 1511.873736; finalDepth = 1508.226768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1511.873736 # Seafloor depth:-1556.873736 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105754 meters # Minimum depth: 1556.542915 meters looking forward 100.000000 meters along route # Maximum depth: 1561.140095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.542915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954802; longitude = -130.021730; captureRadius = 10; duration = 100; initialDepth = 1511.542915; finalDepth = 1511.873736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.59718 # Actual altitude: 50 # Commanded vehicle depth:1511.542915 # Seafloor depth:-1561.140095 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105794 meters # Minimum depth: 1553.387455 meters looking forward 100.000000 meters along route # Maximum depth: 1555.825969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.387455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954769; longitude = -130.020439; captureRadius = 10; duration = 100; initialDepth = 1508.387455; finalDepth = 1511.542915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.59718 # Actual altitude: 50 # Commanded vehicle depth:1508.387455 # Seafloor depth:-1555.825969 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105833 meters # Minimum depth: 1539.063480 meters looking forward 100.000000 meters along route # Maximum depth: 1552.416131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.063480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954736; longitude = -130.019148; captureRadius = 10; duration = 100; initialDepth = 1494.063480; finalDepth = 1508.387455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3526509999999 # Actual altitude: 58.3526509999999 # Commanded vehicle depth:1494.06348 # Seafloor depth:-1552.416131 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 233.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.105872 meters # Minimum depth: 1536.120584 meters looking forward 100.000000 meters along route # Maximum depth: 1538.255784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.120584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954704; longitude = -130.017857; captureRadius = 10; duration = 100; initialDepth = 1491.120584; finalDepth = 1494.063480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3526509999999 # Actual altitude: 58.3526509999999 # Commanded vehicle depth:1491.120584 # Seafloor depth:-1538.255784 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 233.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.105911 meters # Minimum depth: 1535.586005 meters looking forward 100.000000 meters along route # Maximum depth: 1536.583441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.586005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954671; longitude = -130.016566; captureRadius = 10; duration = 100; initialDepth = 1490.586005; finalDepth = 1491.120584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1351999999999 # Actual altitude: 50 # Commanded vehicle depth:1490.586005 # Seafloor depth:-1535.909167 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105950 meters # Minimum depth: 1534.814605 meters looking forward 100.000000 meters along route # Maximum depth: 1535.433155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.814605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954639; longitude = -130.015275; captureRadius = 10; duration = 100; initialDepth = 1489.814605; finalDepth = 1490.586005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6185499999999 # Actual altitude: 50 # Commanded vehicle depth:1489.814605 # Seafloor depth:-1535.433155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.105990 meters # Minimum depth: 1533.305386 meters looking forward 100.000000 meters along route # Maximum depth: 1534.605984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.305386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954606; longitude = -130.013985; captureRadius = 10; duration = 100; initialDepth = 1488.305386; finalDepth = 1489.814605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.300598 # Actual altitude: 50 # Commanded vehicle depth:1488.305386 # Seafloor depth:-1534.605984 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.106028 meters # Minimum depth: 1534.493415 meters looking forward 100.000000 meters along route # Maximum depth: 1536.953425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.493415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954574; longitude = -130.012694; captureRadius = 10; duration = 100; initialDepth = 1489.493415; finalDepth = 1488.305386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.300598 # Actual altitude: 50 # Commanded vehicle depth:1489.493415 # Seafloor depth:-1534.493415 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.106068 meters # Minimum depth: 1534.550752 meters looking forward 100.000000 meters along route # Maximum depth: 1535.407337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.550752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954541; longitude = -130.011403; captureRadius = 10; duration = 100; initialDepth = 1489.550752; finalDepth = 1489.493415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.856585 # Actual altitude: 50 # Commanded vehicle depth:1489.550752 # Seafloor depth:-1535.407337 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.027430 meters # Minimum depth: 1533.419726 meters looking forward 100.000000 meters along route # Maximum depth: 1534.798537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1575.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.419726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954508; longitude = -130.010112; captureRadius = 10; duration = 106; initialDepth = 1488.419726; finalDepth = 1489.550752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9825499999999 # Actual altitude: 50 # Commanded vehicle depth:1488.419726 # Seafloor depth:-1534.402276 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; 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: 45.9825499999999 # Actual altitude: 50 # Commanded vehicle depth:1488.419726 # Seafloor depth:-1534.049652 # 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 = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; 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: 1533.419726 meters looking forward 100.000000 meters along route # Maximum depth: 1534.798537 meters looking forward 100.000000 meters along route # Vehicle depth: 1488.419726 meters behavior waypoint { latitude = 45.954474; longitude = -130.008745; captureRadius = 10; duration = 500; depth = 1488.419726; 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 1488.419726 meters set by local depth and desired altitude behavior descend { duration = 4412; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; maxDepth = 1460; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1533.419726 meters looking forward 100.000000 meters along route # Maximum depth: 1534.798537 meters looking forward 100.000000 meters along route # Vehicle depth: 300.000000 meters behavior waypoint { latitude = 45.954474; longitude = -130.008745; captureRadius = 10; duration = 500; depth = 300.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 90.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 90.0; 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; } # ####################################################### #######################################################