# 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_3v4.rte # Mission File: MAUV_Axial_3v4.cfg # Distance: 38443.913442 (m) # Estimated Time: 29010 (s) 8.058 (hr) # Abort Time: 30024 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1857 (s) # Way Points: 25 # Route Points: 373 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 45 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 35 (m) # Maximum Vehicle Depth: 1700 (m) # Abort Vehicle Depth: 1750 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -129.998581 45.936723 -1543.032288 0.000000 3 # 1 -129.990833 45.924675 -1526.930847 1467.309083 1 # 2 -129.990682 45.928424 -1524.137146 1884.038062 1 # 3 -130.012278 45.961610 -1550.029968 5933.660367 4 # 4 -130.010280 45.962241 -1545.510345 6103.623404 3 # 5 -129.991542 45.933448 -1526.560760 9617.171915 4 # 6 -129.992381 45.938397 -1530.474640 10170.907151 3 # 7 -130.008281 45.962871 -1545.574036 13156.519653 4 # 8 -130.006282 45.963502 -1543.753021 13326.549986 3 # 9 -129.991294 45.940392 -1530.745514 16144.928627 4 # 10 -129.990123 45.942312 -1531.879974 16376.776626 3 # 11 -130.010057 45.973266 -1564.778229 20147.208788 4 # 12 -130.008164 45.974180 -1560.054108 20325.599602 3 # 13 -129.991413 45.948026 -1532.318146 23508.415074 4 # 14 -129.990618 45.950470 -1531.679291 23786.880711 3 # 15 -130.006380 45.974930 -1557.939178 26766.570961 4 # 16 -130.004702 45.975920 -1557.064880 26936.866056 3 # 17 -129.990231 45.953619 -1529.633698 29656.726270 4 # 18 -129.990962 45.958598 -1528.101471 30212.856171 3 # 19 -130.002896 45.976595 -1554.571014 32416.022756 1 # 20 -130.000832 45.977315 -1559.692413 32594.818530 1 # 21 -129.996897 45.971331 -1538.650940 33326.285431 1 # 22 -130.004638 45.936463 -1548.563324 37246.790590 1 # 23 -130.010057 45.934573 -1547.386963 37716.478496 4 # 24 -130.013863 45.940557 -1547.948914 38443.913442 1 # # A total of 373 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 30024; } # # 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 = 3600; 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 24 # Segment length 97.765899 meters # Minimum depth: 1547.781134 meters looking forward 100.000000 meters along route # Maximum depth: 1550.207362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.781134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940557; longitude = -130.013863; captureRadius = 10; duration = 97; # abortOnTimeout = True; initialDepth = 1502.781134; finalDepth = 1502.781134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.16778 # Actual altitude: 50 # Commanded vehicle depth:1502.781134 # Seafloor depth:-1547.948914 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.025922 meters # Minimum depth: 1548.928060 meters looking forward 100.000000 meters along route # Maximum depth: 1550.080141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.928060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939753; longitude = -130.013351; captureRadius = 10; duration = 101; initialDepth = 1503.928060; finalDepth = 1502.781134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.642668 # Actual altitude: 50 # Commanded vehicle depth:1503.92806 # Seafloor depth:-1549.570728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.863934 meters # Minimum depth: 1548.991496 meters looking forward 100.000000 meters along route # Maximum depth: 1550.034517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.991496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938922; longitude = -130.012823; captureRadius = 10; duration = 106; initialDepth = 1503.991496; finalDepth = 1503.928060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.043021 # Actual altitude: 50 # Commanded vehicle depth:1503.991496 # Seafloor depth:-1550.034517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 109.416102 meters # Minimum depth: 1549.146169 meters looking forward 100.000000 meters along route # Maximum depth: 1549.536602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.146169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938043; longitude = -130.012264; captureRadius = 10; duration = 109; initialDepth = 1504.146169; finalDepth = 1503.991496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.043021 # Actual altitude: 50 # Commanded vehicle depth:1504.146169 # Seafloor depth:-1549.146169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.446426 meters # Minimum depth: 1545.295891 meters looking forward 100.000000 meters along route # Maximum depth: 1548.957916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.295891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937143; longitude = -130.011691; captureRadius = 10; duration = 104; initialDepth = 1500.295891; finalDepth = 1504.146169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6620250000001 # Actual altitude: 50 # Commanded vehicle depth:1500.295891 # Seafloor depth:-1548.957916 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 103.444905 meters # Minimum depth: 1546.238152 meters looking forward 100.000000 meters along route # Maximum depth: 1546.754015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.238152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936283; longitude = -130.011145; captureRadius = 10; duration = 103; initialDepth = 1501.238152; finalDepth = 1500.295891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6620250000001 # Actual altitude: 50 # Commanded vehicle depth:1501.238152 # Seafloor depth:-1546.297984 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.471758 meters # Minimum depth: 1545.856433 meters looking forward 100.000000 meters along route # Maximum depth: 1547.351062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.856433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935432; longitude = -130.010604; captureRadius = 10; duration = 104; initialDepth = 1500.856433; finalDepth = 1501.238152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3341250000001 # Actual altitude: 50 # Commanded vehicle depth:1500.856433 # Seafloor depth:-1546.190558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62.347196 meters # Minimum depth: 1546.341276 meters looking forward 100.000000 meters along route # Maximum depth: 1547.440359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.341276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934573; longitude = -130.010057; captureRadius = 10; duration = 62; # abortOnTimeout = True; initialDepth = 1501.341276; finalDepth = 1500.856433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0456869999998 # Actual altitude: 50 # Commanded vehicle depth:1501.341276 # Seafloor depth:-1547.386963 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.693630 meters # Minimum depth: 1546.901799 meters looking forward 100.000000 meters along route # Maximum depth: 1548.943202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.901799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934824; longitude = -130.009338; captureRadius = 10; duration = 100; initialDepth = 1501.901799; finalDepth = 1501.341276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0456869999998 # Actual altitude: 50 # Commanded vehicle depth:1501.901799 # Seafloor depth:-1547.181077 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.693027 meters # Minimum depth: 1549.173006 meters looking forward 100.000000 meters along route # Maximum depth: 1550.723877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.173006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935229; longitude = -130.008176; captureRadius = 10; duration = 100; initialDepth = 1504.173006; finalDepth = 1501.901799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.279278 # Actual altitude: 50 # Commanded vehicle depth:1504.173006 # Seafloor depth:-1549.173006 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.692425 meters # Minimum depth: 1549.904086 meters looking forward 100.000000 meters along route # Maximum depth: 1550.409230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.904086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935634; longitude = -130.007014; captureRadius = 10; duration = 100; initialDepth = 1504.904086; finalDepth = 1504.173006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.505144 # Actual altitude: 50 # Commanded vehicle depth:1504.904086 # Seafloor depth:-1550.409230 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.261628 meters # Minimum depth: 1548.585354 meters looking forward 100.000000 meters along route # Maximum depth: 1550.142462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.585354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936039; longitude = -130.005852; captureRadius = 10; duration = 105; initialDepth = 1503.585354; finalDepth = 1504.904086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.557108 # Actual altitude: 50 # Commanded vehicle depth:1503.585354 # Seafloor depth:-1550.142462 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 66.286290 meters # Minimum depth: 1546.669687 meters looking forward 100.000000 meters along route # Maximum depth: 1549.027494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.669687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936463; longitude = -130.004638; captureRadius = 10; duration = 66; # abortOnTimeout = True; initialDepth = 1501.669687; finalDepth = 1503.585354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8936369999999 # Actual altitude: 50 # Commanded vehicle depth:1501.669687 # Seafloor depth:-1548.563324 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203543 meters # Minimum depth: 1545.855645 meters looking forward 100.000000 meters along route # Maximum depth: 1546.381504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.855645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937053; longitude = -130.004507; captureRadius = 10; duration = 101; initialDepth = 1500.855645; finalDepth = 1501.669687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8936369999999 # Actual altitude: 50 # Commanded vehicle depth:1500.855645 # Seafloor depth:-1546.299588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203517 meters # Minimum depth: 1545.358017 meters looking forward 100.000000 meters along route # Maximum depth: 1545.927152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.358017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937953; longitude = -130.004307; captureRadius = 10; duration = 101; initialDepth = 1500.358017; finalDepth = 1500.855645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.443943 # Actual altitude: 50 # Commanded vehicle depth:1500.358017 # Seafloor depth:-1545.800388 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203491 meters # Minimum depth: 1544.995347 meters looking forward 100.000000 meters along route # Maximum depth: 1545.974240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.995347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938853; longitude = -130.004107; captureRadius = 10; duration = 101; initialDepth = 1499.995347; finalDepth = 1500.358017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4423710000001 # Actual altitude: 50 # Commanded vehicle depth:1499.995347 # Seafloor depth:-1545.212088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203465 meters # Minimum depth: 1542.517605 meters looking forward 100.000000 meters along route # Maximum depth: 1545.503266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.517605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939753; longitude = -130.003908; captureRadius = 10; duration = 101; initialDepth = 1497.517605; finalDepth = 1499.995347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4737869999999 # Actual altitude: 50 # Commanded vehicle depth:1497.517605 # Seafloor depth:-1544.991392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203439 meters # Minimum depth: 1539.913845 meters looking forward 100.000000 meters along route # Maximum depth: 1541.730129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.913845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940653; longitude = -130.003708; captureRadius = 10; duration = 101; initialDepth = 1494.913845; finalDepth = 1497.517605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4737869999999 # Actual altitude: 50 # Commanded vehicle depth:1494.913845 # Seafloor depth:-1541.730129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203413 meters # Minimum depth: 1540.640026 meters looking forward 100.000000 meters along route # Maximum depth: 1543.131634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.640026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941553; longitude = -130.003508; captureRadius = 10; duration = 101; initialDepth = 1495.640026; finalDepth = 1494.913845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.816284 # Actual altitude: 50 # Commanded vehicle depth:1495.640026 # Seafloor depth:-1540.774401 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203388 meters # Minimum depth: 1543.465722 meters looking forward 100.000000 meters along route # Maximum depth: 1544.902189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.465722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942453; longitude = -130.003308; captureRadius = 10; duration = 101; initialDepth = 1498.465722; finalDepth = 1495.640026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1343749999999 # Actual altitude: 50 # Commanded vehicle depth:1498.465722 # Seafloor depth:-1543.465722 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203361 meters # Minimum depth: 1543.139531 meters looking forward 100.000000 meters along route # Maximum depth: 1545.332369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.139531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943353; longitude = -130.003108; captureRadius = 10; duration = 101; initialDepth = 1498.139531; finalDepth = 1498.465722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9595790000001 # Actual altitude: 50 # Commanded vehicle depth:1498.139531 # Seafloor depth:-1545.099110 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203335 meters # Minimum depth: 1540.876825 meters looking forward 100.000000 meters along route # Maximum depth: 1542.358475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.876825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944253; longitude = -130.002909; captureRadius = 10; duration = 101; initialDepth = 1495.876825; finalDepth = 1498.139531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9595790000001 # Actual altitude: 50 # Commanded vehicle depth:1495.876825 # Seafloor depth:-1542.180364 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203309 meters # Minimum depth: 1541.492647 meters looking forward 100.000000 meters along route # Maximum depth: 1541.867580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.492647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945153; longitude = -130.002709; captureRadius = 10; duration = 101; initialDepth = 1496.492647; finalDepth = 1495.876825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.303539 # Actual altitude: 50 # Commanded vehicle depth:1496.492647 # Seafloor depth:-1541.867580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203283 meters # Minimum depth: 1539.469785 meters looking forward 100.000000 meters along route # Maximum depth: 1541.571681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.469785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946053; longitude = -130.002509; captureRadius = 10; duration = 101; initialDepth = 1494.469785; finalDepth = 1496.492647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1018959999999 # Actual altitude: 50 # Commanded vehicle depth:1494.469785 # Seafloor depth:-1541.571681 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.275643 meters # Minimum depth: 1539.581831 meters looking forward 100.000000 meters along route # Maximum depth: 1541.047758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.581831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946953; longitude = -130.002309; captureRadius = 10; duration = 101; initialDepth = 1494.581831; finalDepth = 1494.469785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1018959999999 # Actual altitude: 50 # Commanded vehicle depth:1494.581831 # Seafloor depth:-1539.581831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.130846 meters # Minimum depth: 1540.129395 meters looking forward 100.000000 meters along route # Maximum depth: 1540.996820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.129395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947854; longitude = -130.002109; captureRadius = 10; duration = 101; initialDepth = 1495.129395; finalDepth = 1494.581831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8674250000001 # Actual altitude: 50 # Commanded vehicle depth:1495.129395 # Seafloor depth:-1540.996820 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203205 meters # Minimum depth: 1539.001013 meters looking forward 100.000000 meters along route # Maximum depth: 1539.967466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.001013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948754; longitude = -130.001909; captureRadius = 10; duration = 101; initialDepth = 1494.001013; finalDepth = 1495.129395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8674250000001 # Actual altitude: 50 # Commanded vehicle depth:1494.001013 # Seafloor depth:-1539.663491 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203179 meters # Minimum depth: 1539.963932 meters looking forward 100.000000 meters along route # Maximum depth: 1540.615930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.963932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949654; longitude = -130.001710; captureRadius = 10; duration = 101; initialDepth = 1494.963932; finalDepth = 1494.001013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.662478 # Actual altitude: 50 # Commanded vehicle depth:1494.963932 # Seafloor depth:-1540.012620 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203154 meters # Minimum depth: 1538.976541 meters looking forward 100.000000 meters along route # Maximum depth: 1540.242012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.976541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950554; longitude = -130.001510; captureRadius = 10; duration = 101; initialDepth = 1493.976541; finalDepth = 1494.963932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2654709999999 # Actual altitude: 50 # Commanded vehicle depth:1493.976541 # Seafloor depth:-1540.242012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203127 meters # Minimum depth: 1538.969644 meters looking forward 100.000000 meters along route # Maximum depth: 1539.725612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.969644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951454; longitude = -130.001310; captureRadius = 10; duration = 101; initialDepth = 1493.969644; finalDepth = 1493.976541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2654709999999 # Actual altitude: 50 # Commanded vehicle depth:1493.969644 # Seafloor depth:-1539.189580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203102 meters # Minimum depth: 1539.364089 meters looking forward 100.000000 meters along route # Maximum depth: 1539.931594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.364089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952354; longitude = -130.001110; captureRadius = 10; duration = 101; initialDepth = 1494.364089; finalDepth = 1493.969644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.565102 # Actual altitude: 50 # Commanded vehicle depth:1494.364089 # Seafloor depth:-1539.929191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203075 meters # Minimum depth: 1538.206961 meters looking forward 100.000000 meters along route # Maximum depth: 1540.485691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.206961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953254; longitude = -130.000910; captureRadius = 10; duration = 101; initialDepth = 1493.206961; finalDepth = 1494.364089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1165589999998 # Actual altitude: 50 # Commanded vehicle depth:1493.206961 # Seafloor depth:-1539.323520 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203050 meters # Minimum depth: 1532.301545 meters looking forward 100.000000 meters along route # Maximum depth: 1540.978843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.301545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954154; longitude = -130.000710; captureRadius = 10; duration = 101; initialDepth = 1487.301545; finalDepth = 1493.206961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4778659999999 # Actual altitude: 53.4778659999999 # Commanded vehicle depth:1487.301545 # Seafloor depth:-1540.779411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.203023 meters # Minimum depth: 1523.671606 meters looking forward 100.000000 meters along route # Maximum depth: 1530.839588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.671606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955054; longitude = -130.000511; captureRadius = 10; duration = 101; initialDepth = 1478.671606; finalDepth = 1487.301545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4778659999999 # Actual altitude: 53.4778659999999 # Commanded vehicle depth:1478.671606 # Seafloor depth:-1530.839588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202998 meters # Minimum depth: 1524.080977 meters looking forward 100.000000 meters along route # Maximum depth: 1532.805482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.080977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955954; longitude = -130.000311; captureRadius = 10; duration = 101; initialDepth = 1479.080977; finalDepth = 1478.671606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1679819999999 # Actual altitude: 52.1679819999999 # Commanded vehicle depth:1479.080977 # Seafloor depth:-1524.080977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202971 meters # Minimum depth: 1534.444036 meters looking forward 100.000000 meters along route # Maximum depth: 1538.089341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.444036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956854; longitude = -130.000111; captureRadius = 10; duration = 101; initialDepth = 1489.444036; finalDepth = 1479.080977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1489.444036 # Seafloor depth:-1534.444036 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202946 meters # Minimum depth: 1532.561618 meters looking forward 100.000000 meters along route # Maximum depth: 1536.506105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.561618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957754; longitude = -129.999911; captureRadius = 10; duration = 101; initialDepth = 1487.561618; finalDepth = 1489.444036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.944487 # Actual altitude: 50 # Commanded vehicle depth:1487.561618 # Seafloor depth:-1536.506105 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202920 meters # Minimum depth: 1532.446650 meters looking forward 100.000000 meters along route # Maximum depth: 1534.268412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.446650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958654; longitude = -129.999711; captureRadius = 10; duration = 101; initialDepth = 1487.446650; finalDepth = 1487.561618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.944487 # Actual altitude: 50 # Commanded vehicle depth:1487.44665 # Seafloor depth:-1532.523185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202894 meters # Minimum depth: 1534.306928 meters looking forward 100.000000 meters along route # Maximum depth: 1535.079884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.306928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959554; longitude = -129.999512; captureRadius = 10; duration = 101; initialDepth = 1489.306928; finalDepth = 1487.446650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0765349999999 # Actual altitude: 50 # Commanded vehicle depth:1489.306928 # Seafloor depth:-1534.307516 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202867 meters # Minimum depth: 1535.081296 meters looking forward 100.000000 meters along route # Maximum depth: 1537.295755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.081296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960454; longitude = -129.999312; captureRadius = 10; duration = 101; initialDepth = 1490.081296; finalDepth = 1489.306928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0005880000001 # Actual altitude: 50 # Commanded vehicle depth:1490.081296 # Seafloor depth:-1535.081296 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202842 meters # Minimum depth: 1537.079455 meters looking forward 100.000000 meters along route # Maximum depth: 1537.346468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.079455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961355; longitude = -129.999112; captureRadius = 10; duration = 101; initialDepth = 1492.079455; finalDepth = 1490.081296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.224825 # Actual altitude: 50 # Commanded vehicle depth:1492.079455 # Seafloor depth:-1537.304280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202816 meters # Minimum depth: 1537.609332 meters looking forward 100.000000 meters along route # Maximum depth: 1539.754392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.609332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962255; longitude = -129.998912; captureRadius = 10; duration = 101; initialDepth = 1492.609332; finalDepth = 1492.079455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.224825 # Actual altitude: 50 # Commanded vehicle depth:1492.609332 # Seafloor depth:-1537.609332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202790 meters # Minimum depth: 1539.001302 meters looking forward 100.000000 meters along route # Maximum depth: 1539.750919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.001302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963155; longitude = -129.998712; captureRadius = 10; duration = 101; initialDepth = 1494.001302; finalDepth = 1492.609332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7496170000002 # Actual altitude: 50 # Commanded vehicle depth:1494.001302 # Seafloor depth:-1539.750919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202764 meters # Minimum depth: 1537.031900 meters looking forward 100.000000 meters along route # Maximum depth: 1539.097215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.031900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964055; longitude = -129.998512; captureRadius = 10; duration = 101; initialDepth = 1492.031900; finalDepth = 1494.001302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0485470000001 # Actual altitude: 50 # Commanded vehicle depth:1492.0319 # Seafloor depth:-1539.080447 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202738 meters # Minimum depth: 1536.488535 meters looking forward 100.000000 meters along route # Maximum depth: 1537.815633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.488535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964955; longitude = -129.998313; captureRadius = 10; duration = 101; initialDepth = 1491.488535; finalDepth = 1492.031900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0485470000001 # Actual altitude: 50 # Commanded vehicle depth:1491.488535 # Seafloor depth:-1537.012493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202712 meters # Minimum depth: 1537.359081 meters looking forward 100.000000 meters along route # Maximum depth: 1538.063744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.359081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965855; longitude = -129.998113; captureRadius = 10; duration = 101; initialDepth = 1492.359081; finalDepth = 1491.488535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.704663 # Actual altitude: 50 # Commanded vehicle depth:1492.359081 # Seafloor depth:-1538.063744 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202686 meters # Minimum depth: 1537.741528 meters looking forward 100.000000 meters along route # Maximum depth: 1538.796783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.741528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966755; longitude = -129.997913; captureRadius = 10; duration = 101; initialDepth = 1492.741528; finalDepth = 1492.359081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.704663 # Actual altitude: 50 # Commanded vehicle depth:1492.741528 # Seafloor depth:-1537.741528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202661 meters # Minimum depth: 1537.998985 meters looking forward 100.000000 meters along route # Maximum depth: 1540.085958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.998985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967655; longitude = -129.997713; captureRadius = 10; duration = 101; initialDepth = 1492.998985; finalDepth = 1492.741528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.626023 # Actual altitude: 50 # Commanded vehicle depth:1492.998985 # Seafloor depth:-1538.625008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202634 meters # Minimum depth: 1536.825783 meters looking forward 100.000000 meters along route # Maximum depth: 1538.145637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.825783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968555; longitude = -129.997513; captureRadius = 10; duration = 101; initialDepth = 1491.825783; finalDepth = 1492.998985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2079100000001 # Actual altitude: 50 # Commanded vehicle depth:1491.825783 # Seafloor depth:-1538.033693 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.202608 meters # Minimum depth: 1536.708070 meters looking forward 100.000000 meters along route # Maximum depth: 1537.237041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.708070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969455; longitude = -129.997313; captureRadius = 10; duration = 101; initialDepth = 1491.708070; finalDepth = 1491.825783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2079100000001 # Actual altitude: 50 # Commanded vehicle depth:1491.70807 # Seafloor depth:-1536.917340 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.705074 meters # Minimum depth: 1536.624048 meters looking forward 100.000000 meters along route # Maximum depth: 1538.479807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.624048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970355; longitude = -129.997114; captureRadius = 10; duration = 109; initialDepth = 1491.624048; finalDepth = 1491.708070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2092700000001 # Actual altitude: 50 # Commanded vehicle depth:1491.624048 # Seafloor depth:-1536.624048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.779821 meters # Minimum depth: 1538.650940 meters looking forward 100.000000 meters along route # Maximum depth: 1539.455750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.650940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971331; longitude = -129.996897; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1493.650940; finalDepth = 1491.624048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1493.65094 # Seafloor depth:-1538.650940 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.250125 meters # Minimum depth: 1538.396455 meters looking forward 100.000000 meters along route # Maximum depth: 1539.776725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.396455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972155; longitude = -129.997439; captureRadius = 10; duration = 100; initialDepth = 1493.396455; finalDepth = 1493.650940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.376614 # Actual altitude: 50 # Commanded vehicle depth:1493.396455 # Seafloor depth:-1538.773069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.793552 meters # Minimum depth: 1539.832400 meters looking forward 100.000000 meters along route # Maximum depth: 1544.971699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.832400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972976; longitude = -129.997978; captureRadius = 10; duration = 108; initialDepth = 1494.832400; finalDepth = 1493.396455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.376614 # Actual altitude: 50 # Commanded vehicle depth:1494.8324 # Seafloor depth:-1539.832400 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.159399 meters # Minimum depth: 1545.175623 meters looking forward 100.000000 meters along route # Maximum depth: 1548.932014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.175623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973866; longitude = -129.998564; captureRadius = 10; duration = 107; initialDepth = 1500.175623; finalDepth = 1494.832400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1500.175623 # Seafloor depth:-1545.175623 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.883246 meters # Minimum depth: 1547.687516 meters looking forward 100.000000 meters along route # Maximum depth: 1549.653377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.687516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974742; longitude = -129.999140; captureRadius = 10; duration = 101; initialDepth = 1502.687516; finalDepth = 1500.175623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.100598 # Actual altitude: 50 # Commanded vehicle depth:1502.687516 # Seafloor depth:-1548.788114 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.022030 meters # Minimum depth: 1549.841722 meters looking forward 100.000000 meters along route # Maximum depth: 1554.709087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.841722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975576; longitude = -129.999688; captureRadius = 10; duration = 110; initialDepth = 1504.841722; finalDepth = 1502.687516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.100598 # Actual altitude: 50 # Commanded vehicle depth:1504.841722 # Seafloor depth:-1549.841722 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.578728 meters # Minimum depth: 1555.252721 meters looking forward 100.000000 meters along route # Maximum depth: 1559.615202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.252721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976476; longitude = -130.000280; captureRadius = 10; duration = 102; initialDepth = 1510.252721; finalDepth = 1504.841722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1510.252721 # Seafloor depth:-1555.252721 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 77.082553 meters # Minimum depth: 1558.783216 meters looking forward 100.000000 meters along route # Maximum depth: 1559.692413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.783216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977315; longitude = -130.000832; captureRadius = 10; duration = 77; # abortOnTimeout = True; initialDepth = 1513.783216; finalDepth = 1510.252721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9091969999999 # Actual altitude: 50 # Commanded vehicle depth:1513.783216 # Seafloor depth:-1559.692413 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.713221 meters # Minimum depth: 1554.425415 meters looking forward 100.000000 meters along route # Maximum depth: 1558.724461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.425415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977005; longitude = -130.001722; captureRadius = 10; duration = 101; initialDepth = 1509.425415; finalDepth = 1513.783216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2990460000001 # Actual altitude: 50 # Commanded vehicle depth:1509.425415 # Seafloor depth:-1558.724461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 58.663234 meters # Minimum depth: 1554.413214 meters looking forward 100.000000 meters along route # Maximum depth: 1555.793481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.413214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976595; longitude = -130.002896; captureRadius = 10; duration = 58; # abortOnTimeout = True; initialDepth = 1509.413214; finalDepth = 1509.425415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2990460000001 # Actual altitude: 50 # Commanded vehicle depth:1509.413214 # Seafloor depth:-1554.571014 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.437778 meters # Minimum depth: 1555.140630 meters looking forward 100.000000 meters along route # Maximum depth: 1556.606841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.140630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976116; longitude = -130.002578; captureRadius = 10; duration = 110; initialDepth = 1510.140630; finalDepth = 1509.413214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9059719999998 # Actual altitude: 50 # Commanded vehicle depth:1510.14063 # Seafloor depth:-1556.046602 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.929047 meters # Minimum depth: 1554.761050 meters looking forward 100.000000 meters along route # Maximum depth: 1555.784458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.761050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975214; longitude = -130.001980; captureRadius = 10; duration = 109; initialDepth = 1509.761050; finalDepth = 1510.140630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9059719999998 # Actual altitude: 50 # Commanded vehicle depth:1509.76105 # Seafloor depth:-1555.143494 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.538380 meters # Minimum depth: 1553.990275 meters looking forward 100.000000 meters along route # Maximum depth: 1554.709419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.990275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974316; longitude = -130.001385; captureRadius = 10; duration = 104; initialDepth = 1508.990275; finalDepth = 1509.761050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3824439999999 # Actual altitude: 50 # Commanded vehicle depth:1508.990275 # Seafloor depth:-1554.143625 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.811180 meters # Minimum depth: 1551.817363 meters looking forward 100.000000 meters along route # Maximum depth: 1554.157263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.817363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973462; longitude = -130.000818; captureRadius = 10; duration = 104; initialDepth = 1506.817363; finalDepth = 1508.990275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3399000000002 # Actual altitude: 50 # Commanded vehicle depth:1506.817363 # Seafloor depth:-1554.157263 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.184401 meters # Minimum depth: 1547.250738 meters looking forward 100.000000 meters along route # Maximum depth: 1551.577754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.250738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972605; longitude = -130.000251; captureRadius = 10; duration = 110; initialDepth = 1502.250738; finalDepth = 1506.817363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.327016 # Actual altitude: 50 # Commanded vehicle depth:1502.250738 # Seafloor depth:-1551.577754 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.184691 meters # Minimum depth: 1544.132329 meters looking forward 100.000000 meters along route # Maximum depth: 1547.184641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.132329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971705; longitude = -129.999654; captureRadius = 10; duration = 110; initialDepth = 1499.132329; finalDepth = 1502.250738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.327016 # Actual altitude: 50 # Commanded vehicle depth:1499.132329 # Seafloor depth:-1547.184641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.757885 meters # Minimum depth: 1541.941294 meters looking forward 100.000000 meters along route # Maximum depth: 1544.085890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.941294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970805; longitude = -129.999057; captureRadius = 10; duration = 103; initialDepth = 1496.941294; finalDepth = 1499.132329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.052312 # Actual altitude: 50 # Commanded vehicle depth:1496.941294 # Seafloor depth:-1544.085890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.593828 meters # Minimum depth: 1538.809518 meters looking forward 100.000000 meters along route # Maximum depth: 1541.751918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.809518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969958; longitude = -129.998495; captureRadius = 10; duration = 105; initialDepth = 1493.809518; finalDepth = 1496.941294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9423999999999 # Actual altitude: 50 # Commanded vehicle depth:1493.809518 # Seafloor depth:-1541.751918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.185534 meters # Minimum depth: 1537.684037 meters looking forward 100.000000 meters along route # Maximum depth: 1539.391775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.684037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969095; longitude = -129.997923; captureRadius = 10; duration = 110; initialDepth = 1492.684037; finalDepth = 1493.809518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9423999999999 # Actual altitude: 50 # Commanded vehicle depth:1492.684037 # Seafloor depth:-1539.255047 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.185824 meters # Minimum depth: 1534.076626 meters looking forward 100.000000 meters along route # Maximum depth: 1538.353062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.076626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968195; longitude = -129.997326; captureRadius = 10; duration = 110; initialDepth = 1489.076626; finalDepth = 1492.684037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0302320000001 # Actual altitude: 50 # Commanded vehicle depth:1489.076626 # Seafloor depth:-1538.106858 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.977375 meters # Minimum depth: 1528.545955 meters looking forward 100.000000 meters along route # Maximum depth: 1533.590566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.545955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967295; longitude = -129.996729; captureRadius = 10; duration = 102; initialDepth = 1483.545955; finalDepth = 1489.076626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.044611 # Actual altitude: 50.044611 # Commanded vehicle depth:1483.545955 # Seafloor depth:-1533.590566 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 106.376492 meters # Minimum depth: 1523.740568 meters looking forward 100.000000 meters along route # Maximum depth: 1528.317698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.740568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966454; longitude = -129.996171; captureRadius = 10; duration = 106; initialDepth = 1478.740568; finalDepth = 1483.545955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.044611 # Actual altitude: 50.044611 # Commanded vehicle depth:1478.740568 # Seafloor depth:-1528.317698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 110.186667 meters # Minimum depth: 1521.279560 meters looking forward 100.000000 meters along route # Maximum depth: 1522.980890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.279560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965585; longitude = -129.995595; captureRadius = 10; duration = 110; initialDepth = 1476.279560; finalDepth = 1478.740568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5771300000001 # Actual altitude: 50 # Commanded vehicle depth:1476.27956 # Seafloor depth:-1522.980890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.186957 meters # Minimum depth: 1521.906807 meters looking forward 100.000000 meters along route # Maximum depth: 1522.459916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.906807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964685; longitude = -129.994998; captureRadius = 10; duration = 110; initialDepth = 1476.906807; finalDepth = 1476.279560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7013300000001 # Actual altitude: 50 # Commanded vehicle depth:1476.906807 # Seafloor depth:-1522.348780 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.196849 meters # Minimum depth: 1521.218955 meters looking forward 100.000000 meters along route # Maximum depth: 1523.222524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.218955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963785; longitude = -129.994401; captureRadius = 10; duration = 102; initialDepth = 1476.218955; finalDepth = 1476.906807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.441973 # Actual altitude: 50 # Commanded vehicle depth:1476.218955 # Seafloor depth:-1521.639873 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.159171 meters # Minimum depth: 1523.309465 meters looking forward 100.000000 meters along route # Maximum depth: 1524.298954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.309465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962950; longitude = -129.993848; captureRadius = 10; duration = 107; initialDepth = 1478.309465; finalDepth = 1476.218955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.420918 # Actual altitude: 50 # Commanded vehicle depth:1478.309465 # Seafloor depth:-1523.309465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.187800 meters # Minimum depth: 1524.310732 meters looking forward 100.000000 meters along route # Maximum depth: 1525.789851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.310732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962075; longitude = -129.993267; captureRadius = 10; duration = 110; initialDepth = 1479.310732; finalDepth = 1478.309465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1479.310732 # Seafloor depth:-1524.310732 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.188091 meters # Minimum depth: 1525.865830 meters looking forward 100.000000 meters along route # Maximum depth: 1527.175314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.865830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961175; longitude = -129.992671; captureRadius = 10; duration = 110; initialDepth = 1480.865830; finalDepth = 1479.310732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1480.86583 # Seafloor depth:-1525.865830 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.416307 meters # Minimum depth: 1527.513524 meters looking forward 100.000000 meters along route # Maximum depth: 1529.583254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.513524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960274; longitude = -129.992074; captureRadius = 10; duration = 101; initialDepth = 1482.513524; finalDepth = 1480.865830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1482.513524 # Seafloor depth:-1527.513524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.819094 meters # Minimum depth: 1528.313700 meters looking forward 100.000000 meters along route # Maximum depth: 1529.753886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.313700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959446; longitude = -129.991524; captureRadius = 10; duration = 103; initialDepth = 1483.313700; finalDepth = 1482.513524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3064430000002 # Actual altitude: 50 # Commanded vehicle depth:1483.3137 # Seafloor depth:-1529.620143 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 54.028516 meters # Minimum depth: 1528.101471 meters looking forward 100.000000 meters along route # Maximum depth: 1528.882706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.101471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958598; longitude = -129.990962; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 1483.101471; finalDepth = 1483.313700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3064430000002 # Actual altitude: 50 # Commanded vehicle depth:1483.101471 # Seafloor depth:-1528.101471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.533967 meters # Minimum depth: 1528.060526 meters looking forward 100.000000 meters along route # Maximum depth: 1528.669402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.060526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958114; longitude = -129.990891; captureRadius = 10; duration = 100; initialDepth = 1483.060526; finalDepth = 1483.101471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3950090000001 # Actual altitude: 50 # Commanded vehicle depth:1483.060526 # Seafloor depth:-1528.455535 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.533966 meters # Minimum depth: 1529.363057 meters looking forward 100.000000 meters along route # Maximum depth: 1531.633064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.363057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957214; longitude = -129.990759; captureRadius = 10; duration = 100; initialDepth = 1484.363057; finalDepth = 1483.060526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3950090000001 # Actual altitude: 50 # Commanded vehicle depth:1484.363057 # Seafloor depth:-1529.363057 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.533966 meters # Minimum depth: 1529.090831 meters looking forward 100.000000 meters along route # Maximum depth: 1530.809225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.090831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956314; longitude = -129.990627; captureRadius = 10; duration = 100; initialDepth = 1484.090831; finalDepth = 1484.363057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.718394 # Actual altitude: 50 # Commanded vehicle depth:1484.090831 # Seafloor depth:-1530.809225 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.374274 meters # Minimum depth: 1528.692096 meters looking forward 100.000000 meters along route # Maximum depth: 1529.683929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.692096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955414; longitude = -129.990495; captureRadius = 10; duration = 100; initialDepth = 1483.692096; finalDepth = 1484.090831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.718394 # Actual altitude: 50 # Commanded vehicle depth:1483.692096 # Seafloor depth:-1529.189526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.125212 meters # Minimum depth: 1528.713283 meters looking forward 100.000000 meters along route # Maximum depth: 1529.779484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.713283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954515; longitude = -129.990363; captureRadius = 10; duration = 100; initialDepth = 1483.713283; finalDepth = 1483.692096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4974299999999 # Actual altitude: 50 # Commanded vehicle depth:1483.713283 # Seafloor depth:-1528.728666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 21.334849 meters # Minimum depth: 1528.842741 meters looking forward 100.000000 meters along route # Maximum depth: 1529.796976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.842741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953619; longitude = -129.990231; captureRadius = 10; duration = 21; # abortOnTimeout = True; initialDepth = 1483.842741; finalDepth = 1483.713283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7909570000002 # Actual altitude: 50 # Commanded vehicle depth:1483.842741 # Seafloor depth:-1529.633698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.450206 meters # Minimum depth: 1529.165785 meters looking forward 100.000000 meters along route # Maximum depth: 1529.746964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.165785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953794; longitude = -129.990345; captureRadius = 10; duration = 100; initialDepth = 1484.165785; finalDepth = 1483.842741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7909570000002 # Actual altitude: 50 # Commanded vehicle depth:1484.165785 # Seafloor depth:-1529.733650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.127042 meters # Minimum depth: 1529.793268 meters looking forward 100.000000 meters along route # Maximum depth: 1531.114708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.793268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954618; longitude = -129.990879; captureRadius = 10; duration = 108; initialDepth = 1484.793268; finalDepth = 1484.165785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.567865 # Actual altitude: 50 # Commanded vehicle depth:1484.793268 # Seafloor depth:-1529.793268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.230398 meters # Minimum depth: 1530.520200 meters looking forward 100.000000 meters along route # Maximum depth: 1531.153118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.520200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955504; longitude = -129.991454; captureRadius = 10; duration = 110; initialDepth = 1485.520200; finalDepth = 1484.793268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.629901 # Actual altitude: 50 # Commanded vehicle depth:1485.5202 # Seafloor depth:-1531.150101 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.323514 meters # Minimum depth: 1531.059643 meters looking forward 100.000000 meters along route # Maximum depth: 1531.427053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.059643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956408; longitude = -129.992041; captureRadius = 10; duration = 109; initialDepth = 1486.059643; finalDepth = 1485.520200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.629901 # Actual altitude: 50 # Commanded vehicle depth:1486.059643 # Seafloor depth:-1531.113091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.776538 meters # Minimum depth: 1531.228213 meters looking forward 100.000000 meters along route # Maximum depth: 1532.284730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.228213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957304; longitude = -129.992622; captureRadius = 10; duration = 109; initialDepth = 1486.228213; finalDepth = 1486.059643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0534479999999 # Actual altitude: 50 # Commanded vehicle depth:1486.228213 # Seafloor depth:-1531.228213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.776260 meters # Minimum depth: 1529.183266 meters looking forward 100.000000 meters along route # Maximum depth: 1531.805018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.183266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958204; longitude = -129.993206; captureRadius = 10; duration = 109; initialDepth = 1484.183266; finalDepth = 1486.228213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.621752 # Actual altitude: 50 # Commanded vehicle depth:1484.183266 # Seafloor depth:-1531.805018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.775981 meters # Minimum depth: 1529.528769 meters looking forward 100.000000 meters along route # Maximum depth: 1530.486579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.528769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959104; longitude = -129.993790; captureRadius = 10; duration = 109; initialDepth = 1484.528769; finalDepth = 1484.183266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.621752 # Actual altitude: 50 # Commanded vehicle depth:1484.528769 # Seafloor depth:-1529.576189 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.775702 meters # Minimum depth: 1529.342918 meters looking forward 100.000000 meters along route # Maximum depth: 1529.936109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.342918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960004; longitude = -129.994374; captureRadius = 10; duration = 109; initialDepth = 1484.342918; finalDepth = 1484.528769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1538189999999 # Actual altitude: 50 # Commanded vehicle depth:1484.342918 # Seafloor depth:-1529.496737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.637709 meters # Minimum depth: 1529.214981 meters looking forward 100.000000 meters along route # Maximum depth: 1530.985062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.214981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960905; longitude = -129.994959; captureRadius = 10; duration = 106; initialDepth = 1484.214981; finalDepth = 1484.342918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2986819999999 # Actual altitude: 50 # Commanded vehicle depth:1484.214981 # Seafloor depth:-1529.513663 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.935358 meters # Minimum depth: 1531.125052 meters looking forward 100.000000 meters along route # Maximum depth: 1532.602203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.125052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961779; longitude = -129.995526; captureRadius = 10; duration = 101; initialDepth = 1486.125052; finalDepth = 1484.214981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2986819999999 # Actual altitude: 50 # Commanded vehicle depth:1486.125052 # Seafloor depth:-1531.125052 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.774894 meters # Minimum depth: 1531.996616 meters looking forward 100.000000 meters along route # Maximum depth: 1532.531413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.996616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962615; longitude = -129.996068; captureRadius = 10; duration = 109; initialDepth = 1486.996616; finalDepth = 1486.125052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.534797 # Actual altitude: 50 # Commanded vehicle depth:1486.996616 # Seafloor depth:-1532.531413 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.688216 meters # Minimum depth: 1531.612887 meters looking forward 100.000000 meters along route # Maximum depth: 1532.546894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.612887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963515; longitude = -129.996652; captureRadius = 10; duration = 103; initialDepth = 1486.612887; finalDepth = 1486.996616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.534797 # Actual altitude: 50 # Commanded vehicle depth:1486.612887 # Seafloor depth:-1531.830079 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.883316 meters # Minimum depth: 1532.136922 meters looking forward 100.000000 meters along route # Maximum depth: 1533.671013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.136922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964365; longitude = -129.997204; captureRadius = 10; duration = 104; initialDepth = 1487.136922; finalDepth = 1486.612887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2171920000001 # Actual altitude: 50 # Commanded vehicle depth:1487.136922 # Seafloor depth:-1532.268956 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.774087 meters # Minimum depth: 1533.698178 meters looking forward 100.000000 meters along route # Maximum depth: 1539.204134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.698178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965225; longitude = -129.997762; captureRadius = 10; duration = 109; initialDepth = 1488.698178; finalDepth = 1487.136922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.132034 # Actual altitude: 50 # Commanded vehicle depth:1488.698178 # Seafloor depth:-1533.698178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.738766 meters # Minimum depth: 1539.431210 meters looking forward 100.000000 meters along route # Maximum depth: 1542.794749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.431210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966125; longitude = -129.998346; captureRadius = 10; duration = 100; initialDepth = 1494.431210; finalDepth = 1488.698178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1494.43121 # Seafloor depth:-1539.431210 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.831231 meters # Minimum depth: 1542.894623 meters looking forward 100.000000 meters along route # Maximum depth: 1547.928642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.894623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966951; longitude = -129.998882; captureRadius = 10; duration = 107; initialDepth = 1497.894623; finalDepth = 1494.431210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.894623 # Seafloor depth:-1542.894623 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.518615 meters # Minimum depth: 1548.442125 meters looking forward 100.000000 meters along route # Maximum depth: 1550.128735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.442125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967835; longitude = -129.999456; captureRadius = 10; duration = 110; initialDepth = 1503.442125; finalDepth = 1497.894623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1503.442125 # Seafloor depth:-1548.442125 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.027664 meters # Minimum depth: 1550.150030 meters looking forward 100.000000 meters along route # Maximum depth: 1551.034107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.150030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968741; longitude = -130.000044; captureRadius = 10; duration = 109; initialDepth = 1505.150030; finalDepth = 1503.442125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1505.15003 # Seafloor depth:-1550.150030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.772721 meters # Minimum depth: 1550.361837 meters looking forward 100.000000 meters along route # Maximum depth: 1551.116768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.361837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969635; longitude = -130.000624; captureRadius = 10; duration = 109; initialDepth = 1505.361837; finalDepth = 1505.150030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7175960000002 # Actual altitude: 50 # Commanded vehicle depth:1505.361837 # Seafloor depth:-1551.079433 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.772443 meters # Minimum depth: 1550.795226 meters looking forward 100.000000 meters along route # Maximum depth: 1552.304554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.795226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970535; longitude = -130.001208; captureRadius = 10; duration = 109; initialDepth = 1505.795226; finalDepth = 1505.361837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7175960000002 # Actual altitude: 50 # Commanded vehicle depth:1505.795226 # Seafloor depth:-1550.795226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.772165 meters # Minimum depth: 1550.678287 meters looking forward 100.000000 meters along route # Maximum depth: 1551.979018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.678287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971435; longitude = -130.001792; captureRadius = 10; duration = 109; initialDepth = 1505.678287; finalDepth = 1505.795226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2126600000001 # Actual altitude: 50 # Commanded vehicle depth:1505.678287 # Seafloor depth:-1550.890947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.771886 meters # Minimum depth: 1551.950105 meters looking forward 100.000000 meters along route # Maximum depth: 1555.254871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.950105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972335; longitude = -130.002376; captureRadius = 10; duration = 109; initialDepth = 1506.950105; finalDepth = 1505.678287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2126600000001 # Actual altitude: 50 # Commanded vehicle depth:1506.950105 # Seafloor depth:-1551.972668 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.771608 meters # Minimum depth: 1554.735245 meters looking forward 100.000000 meters along route # Maximum depth: 1556.112016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.735245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973236; longitude = -130.002960; captureRadius = 10; duration = 109; initialDepth = 1509.735245; finalDepth = 1506.950105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.232123 # Actual altitude: 50 # Commanded vehicle depth:1509.735245 # Seafloor depth:-1554.967368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.771329 meters # Minimum depth: 1555.053516 meters looking forward 100.000000 meters along route # Maximum depth: 1555.761961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.053516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974136; longitude = -130.003544; captureRadius = 10; duration = 109; initialDepth = 1510.053516; finalDepth = 1509.735245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.708445 # Actual altitude: 50 # Commanded vehicle depth:1510.053516 # Seafloor depth:-1555.761961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.847716 meters # Minimum depth: 1555.807026 meters looking forward 100.000000 meters along route # Maximum depth: 1556.969725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.807026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975036; longitude = -130.004128; captureRadius = 10; duration = 107; initialDepth = 1510.807026; finalDepth = 1510.053516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.708445 # Actual altitude: 50 # Commanded vehicle depth:1510.807026 # Seafloor depth:-1555.807026 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 64.356240 meters # Minimum depth: 1556.706827 meters looking forward 100.000000 meters along route # Maximum depth: 1557.502221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.706827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975920; longitude = -130.004702; captureRadius = 10; duration = 64; # abortOnTimeout = True; initialDepth = 1511.706827; finalDepth = 1510.807026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3580529999999 # Actual altitude: 50 # Commanded vehicle depth:1511.706827 # Seafloor depth:-1557.064880 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.938855 meters # Minimum depth: 1557.116215 meters looking forward 100.000000 meters along route # Maximum depth: 1557.857406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.116215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975546; longitude = -130.005336; captureRadius = 10; duration = 105; initialDepth = 1512.116215; finalDepth = 1511.706827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3580529999999 # Actual altitude: 50 # Commanded vehicle depth:1512.116215 # Seafloor depth:-1557.342914 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 52.910202 meters # Minimum depth: 1556.503251 meters looking forward 100.000000 meters along route # Maximum depth: 1557.939178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.503251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974930; longitude = -130.006380; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 1511.503251; finalDepth = 1512.116215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.435927 # Actual altitude: 50 # Commanded vehicle depth:1511.503251 # Seafloor depth:-1557.939178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.642681 meters # Minimum depth: 1553.820502 meters looking forward 100.000000 meters along route # Maximum depth: 1556.972503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.820502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974496; longitude = -130.006100; captureRadius = 10; duration = 109; initialDepth = 1508.820502; finalDepth = 1511.503251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.61751 # Actual altitude: 50 # Commanded vehicle depth:1508.820502 # Seafloor depth:-1556.438012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.642954 meters # Minimum depth: 1553.854145 meters looking forward 100.000000 meters along route # Maximum depth: 1554.598085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.854145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973596; longitude = -130.005520; captureRadius = 10; duration = 109; initialDepth = 1508.854145; finalDepth = 1508.820502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.61751 # Actual altitude: 50 # Commanded vehicle depth:1508.854145 # Seafloor depth:-1554.000812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.643230 meters # Minimum depth: 1552.942817 meters looking forward 100.000000 meters along route # Maximum depth: 1553.822370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.942817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972696; longitude = -130.004940; captureRadius = 10; duration = 109; initialDepth = 1507.942817; finalDepth = 1508.854145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.879553 # Actual altitude: 50 # Commanded vehicle depth:1507.942817 # Seafloor depth:-1553.822370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.306269 meters # Minimum depth: 1553.382428 meters looking forward 100.000000 meters along route # Maximum depth: 1554.677862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.382428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971795; longitude = -130.004360; captureRadius = 10; duration = 108; initialDepth = 1508.382428; finalDepth = 1507.942817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.879553 # Actual altitude: 50 # Commanded vehicle depth:1508.382428 # Seafloor depth:-1553.382428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.016624 meters # Minimum depth: 1553.191717 meters looking forward 100.000000 meters along route # Maximum depth: 1554.153519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.191717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970906; longitude = -130.003787; captureRadius = 10; duration = 100; initialDepth = 1508.191717; finalDepth = 1508.382428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.961802 # Actual altitude: 50 # Commanded vehicle depth:1508.191717 # Seafloor depth:-1554.153519 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.644026 meters # Minimum depth: 1551.347258 meters looking forward 100.000000 meters along route # Maximum depth: 1553.164329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.347258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970085; longitude = -130.003258; captureRadius = 10; duration = 109; initialDepth = 1506.347258; finalDepth = 1508.191717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8170709999999 # Actual altitude: 50 # Commanded vehicle depth:1506.347258 # Seafloor depth:-1553.164329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.644301 meters # Minimum depth: 1548.669902 meters looking forward 100.000000 meters along route # Maximum depth: 1552.225550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.669902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969185; longitude = -130.002678; captureRadius = 10; duration = 109; initialDepth = 1503.669902; finalDepth = 1506.347258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5386709999998 # Actual altitude: 50 # Commanded vehicle depth:1503.669902 # Seafloor depth:-1552.208573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.644576 meters # Minimum depth: 1546.116999 meters looking forward 100.000000 meters along route # Maximum depth: 1548.859302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.116999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968285; longitude = -130.002098; captureRadius = 10; duration = 109; initialDepth = 1501.116999; finalDepth = 1503.669902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5386709999998 # Actual altitude: 50 # Commanded vehicle depth:1501.116999 # Seafloor depth:-1548.859302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.644851 meters # Minimum depth: 1545.048078 meters looking forward 100.000000 meters along route # Maximum depth: 1545.869396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.048078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967385; longitude = -130.001518; captureRadius = 10; duration = 109; initialDepth = 1500.048078; finalDepth = 1501.116999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.742303 # Actual altitude: 50 # Commanded vehicle depth:1500.048078 # Seafloor depth:-1545.869396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.645125 meters # Minimum depth: 1543.976731 meters looking forward 100.000000 meters along route # Maximum depth: 1545.068101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.976731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966485; longitude = -130.000938; captureRadius = 10; duration = 109; initialDepth = 1498.976731; finalDepth = 1500.048078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.071027 # Actual altitude: 50 # Commanded vehicle depth:1498.976731 # Seafloor depth:-1545.047758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.212591 meters # Minimum depth: 1543.605354 meters looking forward 100.000000 meters along route # Maximum depth: 1544.021749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.605354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965585; longitude = -130.000358; captureRadius = 10; duration = 108; initialDepth = 1498.605354; finalDepth = 1498.976731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.071027 # Actual altitude: 50 # Commanded vehicle depth:1498.605354 # Seafloor depth:-1543.876329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.113905 meters # Minimum depth: 1541.019348 meters looking forward 100.000000 meters along route # Maximum depth: 1543.336250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.019348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964697; longitude = -129.999786; captureRadius = 10; duration = 100; initialDepth = 1496.019348; finalDepth = 1498.605354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.316902 # Actual altitude: 50 # Commanded vehicle depth:1496.019348 # Seafloor depth:-1543.336250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.645922 meters # Minimum depth: 1539.754092 meters looking forward 100.000000 meters along route # Maximum depth: 1540.910565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.754092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963875; longitude = -129.999256; captureRadius = 10; duration = 109; initialDepth = 1494.754092; finalDepth = 1496.019348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.316902 # Actual altitude: 50 # Commanded vehicle depth:1494.754092 # Seafloor depth:-1540.910565 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.646197 meters # Minimum depth: 1535.395141 meters looking forward 100.000000 meters along route # Maximum depth: 1539.729825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.395141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962975; longitude = -129.998676; captureRadius = 10; duration = 109; initialDepth = 1490.395141; finalDepth = 1494.754092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3346839999999 # Actual altitude: 50 # Commanded vehicle depth:1490.395141 # Seafloor depth:-1539.729825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.646472 meters # Minimum depth: 1534.324853 meters looking forward 100.000000 meters along route # Maximum depth: 1535.551811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.324853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962075; longitude = -129.998096; captureRadius = 10; duration = 109; initialDepth = 1489.324853; finalDepth = 1490.395141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3346839999999 # Actual altitude: 50 # Commanded vehicle depth:1489.324853 # Seafloor depth:-1535.344962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.646747 meters # Minimum depth: 1533.937329 meters looking forward 100.000000 meters along route # Maximum depth: 1534.217315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.937329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961175; longitude = -129.997516; captureRadius = 10; duration = 109; initialDepth = 1488.937329; finalDepth = 1489.324853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0201089999998 # Actual altitude: 50 # Commanded vehicle depth:1488.937329 # Seafloor depth:-1533.992866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.647021 meters # Minimum depth: 1533.828730 meters looking forward 100.000000 meters along route # Maximum depth: 1534.490175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.828730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960274; longitude = -129.996936; captureRadius = 10; duration = 109; initialDepth = 1488.828730; finalDepth = 1488.937329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1016260000001 # Actual altitude: 50 # Commanded vehicle depth:1488.82873 # Seafloor depth:-1533.930356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.118910 meters # Minimum depth: 1531.767842 meters looking forward 100.000000 meters along route # Maximum depth: 1534.195318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.767842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959374; longitude = -129.996356; captureRadius = 10; duration = 108; initialDepth = 1486.767842; finalDepth = 1488.828730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4274760000001 # Actual altitude: 50 # Commanded vehicle depth:1486.767842 # Seafloor depth:-1534.195318 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.211188 meters # Minimum depth: 1529.726305 meters looking forward 100.000000 meters along route # Maximum depth: 1531.528023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.726305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958487; longitude = -129.995784; captureRadius = 10; duration = 100; initialDepth = 1484.726305; finalDepth = 1486.767842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4274760000001 # Actual altitude: 50 # Commanded vehicle depth:1484.726305 # Seafloor depth:-1531.528023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.647818 meters # Minimum depth: 1529.319733 meters looking forward 100.000000 meters along route # Maximum depth: 1531.472604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.319733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957664; longitude = -129.995254; captureRadius = 10; duration = 109; initialDepth = 1484.319733; finalDepth = 1484.726305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8017180000002 # Actual altitude: 50 # Commanded vehicle depth:1484.319733 # Seafloor depth:-1529.894966 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.648094 meters # Minimum depth: 1531.640577 meters looking forward 100.000000 meters along route # Maximum depth: 1533.160946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.640577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956764; longitude = -129.994674; captureRadius = 10; duration = 109; initialDepth = 1486.640577; finalDepth = 1484.319733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.575233 # Actual altitude: 50 # Commanded vehicle depth:1486.640577 # Seafloor depth:-1531.699552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.648368 meters # Minimum depth: 1531.561653 meters looking forward 100.000000 meters along route # Maximum depth: 1532.959857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.561653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955864; longitude = -129.994094; captureRadius = 10; duration = 109; initialDepth = 1486.561653; finalDepth = 1486.640577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3982040000001 # Actual altitude: 50 # Commanded vehicle depth:1486.561653 # Seafloor depth:-1532.959857 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.648643 meters # Minimum depth: 1531.332442 meters looking forward 100.000000 meters along route # Maximum depth: 1531.686649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.332442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954964; longitude = -129.993514; captureRadius = 10; duration = 109; initialDepth = 1486.332442; finalDepth = 1486.561653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3982040000001 # Actual altitude: 50 # Commanded vehicle depth:1486.332442 # Seafloor depth:-1531.456163 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.648917 meters # Minimum depth: 1531.384985 meters looking forward 100.000000 meters along route # Maximum depth: 1532.556304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.384985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954064; longitude = -129.992934; captureRadius = 10; duration = 109; initialDepth = 1486.384985; finalDepth = 1486.332442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3339700000001 # Actual altitude: 50 # Commanded vehicle depth:1486.384985 # Seafloor depth:-1531.718955 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.649193 meters # Minimum depth: 1531.344534 meters looking forward 100.000000 meters along route # Maximum depth: 1532.058851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.344534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953164; longitude = -129.992354; captureRadius = 10; duration = 109; initialDepth = 1486.344534; finalDepth = 1486.384985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3339700000001 # Actual altitude: 50 # Commanded vehicle depth:1486.344534 # Seafloor depth:-1531.345610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.649467 meters # Minimum depth: 1530.907900 meters looking forward 100.000000 meters along route # Maximum depth: 1531.795841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.907900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952264; longitude = -129.991774; captureRadius = 10; duration = 109; initialDepth = 1485.907900; finalDepth = 1486.344534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8879410000002 # Actual altitude: 50 # Commanded vehicle depth:1485.9079 # Seafloor depth:-1531.795841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.875958 meters # Minimum depth: 1531.144533 meters looking forward 100.000000 meters along route # Maximum depth: 1531.938289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.144533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951364; longitude = -129.991194; captureRadius = 10; duration = 108; initialDepth = 1486.144533; finalDepth = 1485.907900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8879410000002 # Actual altitude: 50 # Commanded vehicle depth:1486.144533 # Seafloor depth:-1531.753912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 72.510875 meters # Minimum depth: 1531.266660 meters looking forward 100.000000 meters along route # Maximum depth: 1532.428710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.266660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950470; longitude = -129.990618; captureRadius = 10; duration = 72; # abortOnTimeout = True; initialDepth = 1486.266660; finalDepth = 1486.144533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.609379 # Actual altitude: 50 # Commanded vehicle depth:1486.26666 # Seafloor depth:-1531.679291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.553163 meters # Minimum depth: 1531.855263 meters looking forward 100.000000 meters along route # Maximum depth: 1532.545098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.855263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949834; longitude = -129.990825; captureRadius = 10; duration = 102; initialDepth = 1486.855263; finalDepth = 1486.266660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4126309999999 # Actual altitude: 50 # Commanded vehicle depth:1486.855263 # Seafloor depth:-1532.244718 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 103.401599 meters # Minimum depth: 1531.320216 meters looking forward 100.000000 meters along route # Maximum depth: 1532.483267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.320216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948934; longitude = -129.991118; captureRadius = 10; duration = 103; initialDepth = 1486.320216; finalDepth = 1486.855263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.555286 # Actual altitude: 50 # Commanded vehicle depth:1486.320216 # Seafloor depth:-1531.875502 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 94.739944 meters # Minimum depth: 1531.660424 meters looking forward 100.000000 meters along route # Maximum depth: 1532.483267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.660424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948026; longitude = -129.991413; captureRadius = 10; duration = 94; # abortOnTimeout = True; initialDepth = 1486.660424; finalDepth = 1486.320216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6577220000001 # Actual altitude: 50 # Commanded vehicle depth:1486.660424 # Seafloor depth:-1532.318146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.335468 meters # Minimum depth: 1532.468516 meters looking forward 100.000000 meters along route # Maximum depth: 1533.384792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.468516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948804; longitude = -129.991912; captureRadius = 10; duration = 103; initialDepth = 1487.468516; finalDepth = 1486.660424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6577220000001 # Actual altitude: 50 # Commanded vehicle depth:1487.468516 # Seafloor depth:-1532.524008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.538097 meters # Minimum depth: 1531.284758 meters looking forward 100.000000 meters along route # Maximum depth: 1532.734927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.284758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949654; longitude = -129.992455; captureRadius = 10; duration = 109; initialDepth = 1486.284758; finalDepth = 1487.468516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9823369999999 # Actual altitude: 50 # Commanded vehicle depth:1486.284758 # Seafloor depth:-1532.267095 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.981504 meters # Minimum depth: 1531.878608 meters looking forward 100.000000 meters along route # Maximum depth: 1532.894189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.878608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950554; longitude = -129.993032; captureRadius = 10; duration = 105; initialDepth = 1486.878608; finalDepth = 1486.284758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9823369999999 # Actual altitude: 50 # Commanded vehicle depth:1486.878608 # Seafloor depth:-1532.615290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.140132 meters # Minimum depth: 1531.899825 meters looking forward 100.000000 meters along route # Maximum depth: 1533.323625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.899825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951425; longitude = -129.993590; captureRadius = 10; duration = 102; initialDepth = 1486.899825; finalDepth = 1486.878608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.736682 # Actual altitude: 50 # Commanded vehicle depth:1486.899825 # Seafloor depth:-1531.899825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.537310 meters # Minimum depth: 1532.577808 meters looking forward 100.000000 meters along route # Maximum depth: 1533.327894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.577808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952264; longitude = -129.994127; captureRadius = 10; duration = 109; initialDepth = 1487.577808; finalDepth = 1486.899825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.750086 # Actual altitude: 50 # Commanded vehicle depth:1487.577808 # Seafloor depth:-1533.327894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.175326 meters # Minimum depth: 1532.733591 meters looking forward 100.000000 meters along route # Maximum depth: 1533.145427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.733591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953164; longitude = -129.994704; captureRadius = 10; duration = 107; initialDepth = 1487.733591; finalDepth = 1487.577808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.750086 # Actual altitude: 50 # Commanded vehicle depth:1487.733591 # Seafloor depth:-1532.733591 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.944814 meters # Minimum depth: 1532.983264 meters looking forward 100.000000 meters along route # Maximum depth: 1534.710300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.983264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954045; longitude = -129.995268; captureRadius = 10; duration = 100; initialDepth = 1487.983264; finalDepth = 1487.733591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.255046 # Actual altitude: 50 # Commanded vehicle depth:1487.983264 # Seafloor depth:-1533.238310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.536522 meters # Minimum depth: 1534.793597 meters looking forward 100.000000 meters along route # Maximum depth: 1535.846309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.793597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954874; longitude = -129.995799; captureRadius = 10; duration = 109; initialDepth = 1489.793597; finalDepth = 1487.983264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.255046 # Actual altitude: 50 # Commanded vehicle depth:1489.793597 # Seafloor depth:-1534.793597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.536250 meters # Minimum depth: 1535.188722 meters looking forward 100.000000 meters along route # Maximum depth: 1536.254709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.188722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955774; longitude = -129.996375; captureRadius = 10; duration = 109; initialDepth = 1490.188722; finalDepth = 1489.793597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6613829999999 # Actual altitude: 50 # Commanded vehicle depth:1490.188722 # Seafloor depth:-1535.850105 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.535979 meters # Minimum depth: 1533.651298 meters looking forward 100.000000 meters along route # Maximum depth: 1535.383877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.651298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956674; longitude = -129.996952; captureRadius = 10; duration = 109; initialDepth = 1488.651298; finalDepth = 1490.188722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5375140000001 # Actual altitude: 50 # Commanded vehicle depth:1488.651298 # Seafloor depth:-1535.188812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.038185 meters # Minimum depth: 1531.774688 meters looking forward 100.000000 meters along route # Maximum depth: 1533.416613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.774688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957574; longitude = -129.997528; captureRadius = 10; duration = 110; initialDepth = 1486.774688; finalDepth = 1488.651298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6419250000001 # Actual altitude: 50 # Commanded vehicle depth:1486.774688 # Seafloor depth:-1533.416613 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.032958 meters # Minimum depth: 1531.349863 meters looking forward 100.000000 meters along route # Maximum depth: 1532.765172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.349863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958478; longitude = -129.998108; captureRadius = 10; duration = 109; initialDepth = 1486.349863; finalDepth = 1486.774688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6419250000001 # Actual altitude: 50 # Commanded vehicle depth:1486.349863 # Seafloor depth:-1531.770145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.535165 meters # Minimum depth: 1533.197171 meters looking forward 100.000000 meters along route # Maximum depth: 1534.959313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.197171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959374; longitude = -129.998681; captureRadius = 10; duration = 109; initialDepth = 1488.197171; finalDepth = 1486.349863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.420282 # Actual altitude: 50 # Commanded vehicle depth:1488.197171 # Seafloor depth:-1533.197171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.278451 meters # Minimum depth: 1534.924726 meters looking forward 100.000000 meters along route # Maximum depth: 1538.891801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.924726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960274; longitude = -129.999258; captureRadius = 10; duration = 100; initialDepth = 1489.924726; finalDepth = 1488.197171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1489.924726 # Seafloor depth:-1534.924726 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.837613 meters # Minimum depth: 1538.949149 meters looking forward 100.000000 meters along route # Maximum depth: 1540.602917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.949149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961098; longitude = -129.999786; captureRadius = 10; duration = 107; initialDepth = 1493.949149; finalDepth = 1489.924726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1493.949149 # Seafloor depth:-1538.949149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.534377 meters # Minimum depth: 1540.004904 meters looking forward 100.000000 meters along route # Maximum depth: 1540.588975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.004904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961985; longitude = -130.000353; captureRadius = 10; duration = 109; initialDepth = 1495.004904; finalDepth = 1493.949149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.584071 # Actual altitude: 50 # Commanded vehicle depth:1495.004904 # Seafloor depth:-1540.588975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.472282 meters # Minimum depth: 1538.229766 meters looking forward 100.000000 meters along route # Maximum depth: 1539.801333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.229766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962885; longitude = -130.000930; captureRadius = 10; duration = 101; initialDepth = 1493.229766; finalDepth = 1495.004904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5715670000002 # Actual altitude: 50 # Commanded vehicle depth:1493.229766 # Seafloor depth:-1539.801333 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.642286 meters # Minimum depth: 1538.205656 meters looking forward 100.000000 meters along route # Maximum depth: 1540.750456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.205656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963719; longitude = -130.001464; captureRadius = 10; duration = 106; initialDepth = 1493.205656; finalDepth = 1493.229766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5715670000002 # Actual altitude: 50 # Commanded vehicle depth:1493.205656 # Seafloor depth:-1538.219207 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.533590 meters # Minimum depth: 1540.855073 meters looking forward 100.000000 meters along route # Maximum depth: 1543.522973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.855073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964595; longitude = -130.002025; captureRadius = 10; duration = 109; initialDepth = 1495.855073; finalDepth = 1493.205656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.013551 # Actual altitude: 50 # Commanded vehicle depth:1495.855073 # Seafloor depth:-1540.855073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.666097 meters # Minimum depth: 1543.517266 meters looking forward 100.000000 meters along route # Maximum depth: 1545.528590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.517266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965495; longitude = -130.002601; captureRadius = 10; duration = 102; initialDepth = 1498.517266; finalDepth = 1495.855073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1498.517266 # Seafloor depth:-1543.517266 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.446975 meters # Minimum depth: 1545.586886 meters looking forward 100.000000 meters along route # Maximum depth: 1547.551005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.586886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966339; longitude = -130.003142; captureRadius = 10; duration = 105; initialDepth = 1500.586886; finalDepth = 1498.517266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1500.586886 # Seafloor depth:-1545.586886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.532803 meters # Minimum depth: 1546.640207 meters looking forward 100.000000 meters along route # Maximum depth: 1549.527041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.640207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967205; longitude = -130.003697; captureRadius = 10; duration = 109; initialDepth = 1501.640207; finalDepth = 1500.586886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6684480000001 # Actual altitude: 50 # Commanded vehicle depth:1501.640207 # Seafloor depth:-1547.308655 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.859894 meters # Minimum depth: 1549.237708 meters looking forward 100.000000 meters along route # Maximum depth: 1550.969377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.237708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968105; longitude = -130.004273; captureRadius = 10; duration = 103; initialDepth = 1504.237708; finalDepth = 1501.640207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7798599999999 # Actual altitude: 50 # Commanded vehicle depth:1504.237708 # Seafloor depth:-1550.017568 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.251682 meters # Minimum depth: 1550.144839 meters looking forward 100.000000 meters along route # Maximum depth: 1552.280367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.144839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968959; longitude = -130.004820; captureRadius = 10; duration = 104; initialDepth = 1505.144839; finalDepth = 1504.237708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.22316 # Actual altitude: 50 # Commanded vehicle depth:1505.144839 # Seafloor depth:-1551.367999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.532015 meters # Minimum depth: 1550.050113 meters looking forward 100.000000 meters along route # Maximum depth: 1550.729015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.050113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969815; longitude = -130.005368; captureRadius = 10; duration = 109; initialDepth = 1505.050113; finalDepth = 1505.144839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.22316 # Actual altitude: 50 # Commanded vehicle depth:1505.050113 # Seafloor depth:-1550.055020 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.053674 meters # Minimum depth: 1551.075435 meters looking forward 100.000000 meters along route # Maximum depth: 1554.430819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.075435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970715; longitude = -130.005945; captureRadius = 10; duration = 105; initialDepth = 1506.075435; finalDepth = 1505.050113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.004907 # Actual altitude: 50 # Commanded vehicle depth:1506.075435 # Seafloor depth:-1551.075435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.056407 meters # Minimum depth: 1553.715771 meters looking forward 100.000000 meters along route # Maximum depth: 1554.452709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.715771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971579; longitude = -130.006498; captureRadius = 10; duration = 103; initialDepth = 1508.715771; finalDepth = 1506.075435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.735999 # Actual altitude: 50 # Commanded vehicle depth:1508.715771 # Seafloor depth:-1554.451770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.531228 meters # Minimum depth: 1553.684383 meters looking forward 100.000000 meters along route # Maximum depth: 1556.997450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.684383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972425; longitude = -130.007040; captureRadius = 10; duration = 109; initialDepth = 1508.684383; finalDepth = 1508.715771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.735999 # Actual altitude: 50 # Commanded vehicle depth:1508.684383 # Seafloor depth:-1553.684383 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.978444 meters # Minimum depth: 1557.091856 meters looking forward 100.000000 meters along route # Maximum depth: 1560.028340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.091856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973326; longitude = -130.007617; captureRadius = 10; duration = 103; initialDepth = 1512.091856; finalDepth = 1508.684383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1512.091856 # Seafloor depth:-1557.091856 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 74.111080 meters # Minimum depth: 1558.094644 meters looking forward 100.000000 meters along route # Maximum depth: 1560.054108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.094644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974180; longitude = -130.008164; captureRadius = 10; duration = 74; # abortOnTimeout = True; initialDepth = 1513.094644; finalDepth = 1512.091856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.959464 # Actual altitude: 50 # Commanded vehicle depth:1513.094644 # Seafloor depth:-1560.054108 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.279734 meters # Minimum depth: 1556.094155 meters looking forward 100.000000 meters along route # Maximum depth: 1563.378964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.094155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973800; longitude = -130.008950; captureRadius = 10; duration = 104; initialDepth = 1511.094155; finalDepth = 1513.094644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.987005 # Actual altitude: 50 # Commanded vehicle depth:1511.094155 # Seafloor depth:-1559.081160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 3.709422 meters # Minimum depth: 1556.094155 meters looking forward 100.000000 meters along route # Maximum depth: 1564.778229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.094155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973266; longitude = -130.010057; captureRadius = 10; duration = 3; # abortOnTimeout = True; initialDepth = 1511.094155; finalDepth = 1511.094155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.684074 # Actual altitude: 53.684074 # Commanded vehicle depth:1511.094155 # Seafloor depth:-1564.778229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 214.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.926704 meters # Minimum depth: 1564.075618 meters looking forward 100.000000 meters along route # Maximum depth: 1566.957750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.075618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973236; longitude = -130.010037; captureRadius = 10; duration = 107; initialDepth = 1519.075618; finalDepth = 1511.094155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.684074 # Actual altitude: 53.684074 # Commanded vehicle depth:1519.075618 # Seafloor depth:-1564.606419 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 214.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.373180 meters # Minimum depth: 1565.572717 meters looking forward 100.000000 meters along route # Maximum depth: 1568.066145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.572717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972349; longitude = -130.009467; captureRadius = 10; duration = 100; initialDepth = 1520.572717; finalDepth = 1519.075618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5308009999999 # Actual altitude: 50 # Commanded vehicle depth:1520.572717 # Seafloor depth:-1565.572717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.631915 meters # Minimum depth: 1560.038860 meters looking forward 100.000000 meters along route # Maximum depth: 1566.465507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.038860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971525; longitude = -130.008936; captureRadius = 10; duration = 109; initialDepth = 1515.038860; finalDepth = 1520.572717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4266469999998 # Actual altitude: 51.4266469999998 # Commanded vehicle depth:1515.03886 # Seafloor depth:-1566.465507 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.632190 meters # Minimum depth: 1554.349198 meters looking forward 100.000000 meters along route # Maximum depth: 1559.222849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.349198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970625; longitude = -130.008356; captureRadius = 10; duration = 109; initialDepth = 1509.349198; finalDepth = 1515.038860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4266469999998 # Actual altitude: 51.4266469999998 # Commanded vehicle depth:1509.349198 # Seafloor depth:-1559.222849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.632464 meters # Minimum depth: 1550.454794 meters looking forward 100.000000 meters along route # Maximum depth: 1555.368480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.454794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969725; longitude = -130.007777; captureRadius = 10; duration = 109; initialDepth = 1505.454794; finalDepth = 1509.349198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8736510000001 # Actual altitude: 50 # Commanded vehicle depth:1505.454794 # Seafloor depth:-1554.893342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.849287 meters # Minimum depth: 1549.476142 meters looking forward 100.000000 meters along route # Maximum depth: 1550.258571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.476142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968825; longitude = -130.007197; captureRadius = 10; duration = 107; initialDepth = 1504.476142; finalDepth = 1505.454794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4385480000001 # Actual altitude: 50 # Commanded vehicle depth:1504.476142 # Seafloor depth:-1550.258571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.453150 meters # Minimum depth: 1549.395963 meters looking forward 100.000000 meters along route # Maximum depth: 1550.097575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.395963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967940; longitude = -130.006627; captureRadius = 10; duration = 100; initialDepth = 1504.395963; finalDepth = 1504.476142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7824290000001 # Actual altitude: 50 # Commanded vehicle depth:1504.395963 # Seafloor depth:-1549.435619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.633260 meters # Minimum depth: 1547.614564 meters looking forward 100.000000 meters along route # Maximum depth: 1549.607339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.614564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967115; longitude = -130.006096; captureRadius = 10; duration = 109; initialDepth = 1502.614564; finalDepth = 1504.395963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9927749999999 # Actual altitude: 50 # Commanded vehicle depth:1502.614564 # Seafloor depth:-1549.607339 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.633534 meters # Minimum depth: 1547.426599 meters looking forward 100.000000 meters along route # Maximum depth: 1548.769856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.426599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966215; longitude = -130.005516; captureRadius = 10; duration = 109; initialDepth = 1502.426599; finalDepth = 1502.614564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9927749999999 # Actual altitude: 50 # Commanded vehicle depth:1502.426599 # Seafloor depth:-1547.426599 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.633809 meters # Minimum depth: 1548.747208 meters looking forward 100.000000 meters along route # Maximum depth: 1549.834402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.747208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965315; longitude = -130.004937; captureRadius = 10; duration = 109; initialDepth = 1503.747208; finalDepth = 1502.426599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1503.747208 # Seafloor depth:-1548.747208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.634083 meters # Minimum depth: 1542.245879 meters looking forward 100.000000 meters along route # Maximum depth: 1549.909719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.245879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964415; longitude = -130.004357; captureRadius = 10; duration = 109; initialDepth = 1497.245879; finalDepth = 1503.747208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6638399999999 # Actual altitude: 52.6638399999999 # Commanded vehicle depth:1497.245879 # Seafloor depth:-1549.909719 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.634357 meters # Minimum depth: 1539.044800 meters looking forward 100.000000 meters along route # Maximum depth: 1542.077384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.044800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963515; longitude = -130.003777; captureRadius = 10; duration = 109; initialDepth = 1494.044800; finalDepth = 1497.245879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6638399999999 # Actual altitude: 52.6638399999999 # Commanded vehicle depth:1494.0448 # Seafloor depth:-1542.077384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.238536 meters # Minimum depth: 1539.057475 meters looking forward 100.000000 meters along route # Maximum depth: 1539.582601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.057475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962615; longitude = -130.003198; captureRadius = 10; duration = 108; initialDepth = 1494.057475; finalDepth = 1494.044800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.032584 # Actual altitude: 50 # Commanded vehicle depth:1494.057475 # Seafloor depth:-1539.113467 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.067499 meters # Minimum depth: 1538.265994 meters looking forward 100.000000 meters along route # Maximum depth: 1540.258002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.265994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961726; longitude = -130.002625; captureRadius = 10; duration = 100; initialDepth = 1493.265994; finalDepth = 1494.057475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4274939999998 # Actual altitude: 50 # Commanded vehicle depth:1493.265994 # Seafloor depth:-1539.693488 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.635153 meters # Minimum depth: 1538.222473 meters looking forward 100.000000 meters along route # Maximum depth: 1538.742614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.222473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960905; longitude = -130.002096; captureRadius = 10; duration = 109; initialDepth = 1493.222473; finalDepth = 1493.265994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4274939999998 # Actual altitude: 50 # Commanded vehicle depth:1493.222473 # Seafloor depth:-1538.250334 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.635428 meters # Minimum depth: 1534.620584 meters looking forward 100.000000 meters along route # Maximum depth: 1538.217252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.620584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960004; longitude = -130.001517; captureRadius = 10; duration = 109; initialDepth = 1489.620584; finalDepth = 1493.222473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5966679999999 # Actual altitude: 50 # Commanded vehicle depth:1489.620584 # Seafloor depth:-1538.217252 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.635702 meters # Minimum depth: 1528.023692 meters looking forward 100.000000 meters along route # Maximum depth: 1534.533084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.023692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959104; longitude = -130.000937; captureRadius = 10; duration = 109; initialDepth = 1483.023692; finalDepth = 1489.620584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5093919999999 # Actual altitude: 51.5093919999999 # Commanded vehicle depth:1483.023692 # Seafloor depth:-1534.533084 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.161121 meters # Minimum depth: 1529.948434 meters looking forward 100.000000 meters along route # Maximum depth: 1538.424435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.948434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958204; longitude = -130.000357; captureRadius = 10; duration = 108; initialDepth = 1484.948434; finalDepth = 1483.023692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5093919999999 # Actual altitude: 51.5093919999999 # Commanded vehicle depth:1484.948434 # Seafloor depth:-1529.948434 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.147469 meters # Minimum depth: 1536.655180 meters looking forward 100.000000 meters along route # Maximum depth: 1539.344081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.655180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957316; longitude = -129.999786; captureRadius = 10; duration = 100; initialDepth = 1491.655180; finalDepth = 1484.948434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.277372 # Actual altitude: 50 # Commanded vehicle depth:1491.65518 # Seafloor depth:-1538.932552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.636498 meters # Minimum depth: 1534.318484 meters looking forward 100.000000 meters along route # Maximum depth: 1537.239126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.318484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956494; longitude = -129.999256; captureRadius = 10; duration = 109; initialDepth = 1489.318484; finalDepth = 1491.655180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7785610000001 # Actual altitude: 50 # Commanded vehicle depth:1489.318484 # Seafloor depth:-1537.097045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.636772 meters # Minimum depth: 1537.893693 meters looking forward 100.000000 meters along route # Maximum depth: 1541.209887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.893693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955594; longitude = -129.998676; captureRadius = 10; duration = 109; initialDepth = 1492.893693; finalDepth = 1489.318484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7785610000001 # Actual altitude: 50 # Commanded vehicle depth:1492.893693 # Seafloor depth:-1537.893693 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.637047 meters # Minimum depth: 1538.787515 meters looking forward 100.000000 meters along route # Maximum depth: 1540.507708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.787515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954694; longitude = -129.998097; captureRadius = 10; duration = 109; initialDepth = 1493.787515; finalDepth = 1492.893693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7201930000001 # Actual altitude: 50 # Commanded vehicle depth:1493.787515 # Seafloor depth:-1540.507708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.083704 meters # Minimum depth: 1537.947116 meters looking forward 100.000000 meters along route # Maximum depth: 1538.667256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.947116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953794; longitude = -129.997517; captureRadius = 10; duration = 108; initialDepth = 1492.947116; finalDepth = 1493.787515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7201930000001 # Actual altitude: 50 # Commanded vehicle depth:1492.947116 # Seafloor depth:-1538.667256 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.227441 meters # Minimum depth: 1537.837151 meters looking forward 100.000000 meters along route # Maximum depth: 1538.278740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.837151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952907; longitude = -129.996946; captureRadius = 10; duration = 100; initialDepth = 1492.837151; finalDepth = 1492.947116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7201399999999 # Actual altitude: 50 # Commanded vehicle depth:1492.837151 # Seafloor depth:-1538.152499 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.637842 meters # Minimum depth: 1535.747208 meters looking forward 100.000000 meters along route # Maximum depth: 1537.767909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.747208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952084; longitude = -129.996416; captureRadius = 10; duration = 109; initialDepth = 1490.747208; finalDepth = 1492.837151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0207009999999 # Actual altitude: 50 # Commanded vehicle depth:1490.747208 # Seafloor depth:-1537.767909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.638117 meters # Minimum depth: 1533.676547 meters looking forward 100.000000 meters along route # Maximum depth: 1535.459125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.676547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951184; longitude = -129.995836; captureRadius = 10; duration = 109; initialDepth = 1488.676547; finalDepth = 1490.747208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0207009999999 # Actual altitude: 50 # Commanded vehicle depth:1488.676547 # Seafloor depth:-1535.459125 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.638392 meters # Minimum depth: 1532.662398 meters looking forward 100.000000 meters along route # Maximum depth: 1533.620690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.662398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950284; longitude = -129.995257; captureRadius = 10; duration = 109; initialDepth = 1487.662398; finalDepth = 1488.676547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7825780000001 # Actual altitude: 50 # Commanded vehicle depth:1487.662398 # Seafloor depth:-1533.620690 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.006286 meters # Minimum depth: 1533.004012 meters looking forward 100.000000 meters along route # Maximum depth: 1533.802460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.004012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949384; longitude = -129.994677; captureRadius = 10; duration = 108; initialDepth = 1488.004012; finalDepth = 1487.662398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.958292 # Actual altitude: 50 # Commanded vehicle depth:1488.004012 # Seafloor depth:-1533.004012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.307414 meters # Minimum depth: 1533.802917 meters looking forward 100.000000 meters along route # Maximum depth: 1535.910312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.802917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948497; longitude = -129.994106; captureRadius = 10; duration = 100; initialDepth = 1488.802917; finalDepth = 1488.004012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5220650000001 # Actual altitude: 50 # Commanded vehicle depth:1488.802917 # Seafloor depth:-1534.324982 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.639188 meters # Minimum depth: 1533.554364 meters looking forward 100.000000 meters along route # Maximum depth: 1533.781988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.554364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947673; longitude = -129.993576; captureRadius = 10; duration = 109; initialDepth = 1488.554364; finalDepth = 1488.802917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.5220650000001 # Actual altitude: 50 # Commanded vehicle depth:1488.554364 # Seafloor depth:-1533.717645 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.639462 meters # Minimum depth: 1533.384030 meters looking forward 100.000000 meters along route # Maximum depth: 1534.749074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.384030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946773; longitude = -129.992996; captureRadius = 10; duration = 109; initialDepth = 1488.384030; finalDepth = 1488.554364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1632809999999 # Actual altitude: 50 # Commanded vehicle depth:1488.38403 # Seafloor depth:-1533.398434 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.639736 meters # Minimum depth: 1533.414777 meters looking forward 100.000000 meters along route # Maximum depth: 1534.849680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.414777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945873; longitude = -129.992416; captureRadius = 10; duration = 109; initialDepth = 1488.414777; finalDepth = 1488.384030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3690100000001 # Actual altitude: 50 # Commanded vehicle depth:1488.414777 # Seafloor depth:-1534.783787 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.640011 meters # Minimum depth: 1532.209612 meters looking forward 100.000000 meters along route # Maximum depth: 1533.318308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.209612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944973; longitude = -129.991837; captureRadius = 10; duration = 109; initialDepth = 1487.209612; finalDepth = 1488.414777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3690100000001 # Actual altitude: 50 # Commanded vehicle depth:1487.209612 # Seafloor depth:-1533.272402 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.640286 meters # Minimum depth: 1531.121111 meters looking forward 100.000000 meters along route # Maximum depth: 1532.134223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.121111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944073; longitude = -129.991257; captureRadius = 10; duration = 109; initialDepth = 1486.121111; finalDepth = 1487.209612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0627899999999 # Actual altitude: 50 # Commanded vehicle depth:1486.121111 # Seafloor depth:-1532.134223 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.885703 meters # Minimum depth: 1531.530123 meters looking forward 100.000000 meters along route # Maximum depth: 1531.988922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.530123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943173; longitude = -129.990677; captureRadius = 10; duration = 104; initialDepth = 1486.530123; finalDepth = 1486.121111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0131120000001 # Actual altitude: 50 # Commanded vehicle depth:1486.530123 # Seafloor depth:-1531.530123 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 21.883265 meters # Minimum depth: 1531.780659 meters looking forward 100.000000 meters along route # Maximum depth: 1531.988922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.780659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942312; longitude = -129.990123; captureRadius = 10; duration = 21; # abortOnTimeout = True; initialDepth = 1486.780659; finalDepth = 1486.530123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0993149999999 # Actual altitude: 50 # Commanded vehicle depth:1486.780659 # Seafloor depth:-1531.879974 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.386703 meters # Minimum depth: 1530.680536 meters looking forward 100.000000 meters along route # Maximum depth: 1531.741303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.680536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942131; longitude = -129.990234; captureRadius = 10; duration = 102; initialDepth = 1485.680536; finalDepth = 1486.780659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0607669999999 # Actual altitude: 50 # Commanded vehicle depth:1485.680536 # Seafloor depth:-1531.741303 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.578031 meters # Minimum depth: 1530.455063 meters looking forward 100.000000 meters along route # Maximum depth: 1531.763441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.455063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941283; longitude = -129.990751; captureRadius = 10; duration = 107; initialDepth = 1485.455063; finalDepth = 1485.680536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0607669999999 # Actual altitude: 50 # Commanded vehicle depth:1485.455063 # Seafloor depth:-1530.676081 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 31.810639 meters # Minimum depth: 1530.694563 meters looking forward 100.000000 meters along route # Maximum depth: 1531.838444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.694563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940392; longitude = -129.991294; captureRadius = 10; duration = 31; # abortOnTimeout = True; initialDepth = 1485.694563; finalDepth = 1485.455063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.221018 # Actual altitude: 50 # Commanded vehicle depth:1485.694563 # Seafloor depth:-1530.745514 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.771944 meters # Minimum depth: 1530.944838 meters looking forward 100.000000 meters along route # Maximum depth: 1533.037730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.944838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940653; longitude = -129.991463; captureRadius = 10; duration = 109; initialDepth = 1485.944838; finalDepth = 1485.694563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4551300000001 # Actual altitude: 50 # Commanded vehicle depth:1485.944838 # Seafloor depth:-1532.399968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.771664 meters # Minimum depth: 1531.186926 meters looking forward 100.000000 meters along route # Maximum depth: 1532.279713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.186926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941553; longitude = -129.992047; captureRadius = 10; duration = 109; initialDepth = 1486.186926; finalDepth = 1485.944838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4551300000001 # Actual altitude: 50 # Commanded vehicle depth:1486.186926 # Seafloor depth:-1531.186926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.771387 meters # Minimum depth: 1531.381877 meters looking forward 100.000000 meters along route # Maximum depth: 1533.401820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.381877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942453; longitude = -129.992631; captureRadius = 10; duration = 109; initialDepth = 1486.381877; finalDepth = 1486.186926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.022465 # Actual altitude: 50 # Commanded vehicle depth:1486.381877 # Seafloor depth:-1531.404342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.771108 meters # Minimum depth: 1532.679418 meters looking forward 100.000000 meters along route # Maximum depth: 1533.818600 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.679418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943353; longitude = -129.993214; captureRadius = 10; duration = 109; initialDepth = 1487.679418; finalDepth = 1486.381877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7760330000001 # Actual altitude: 50 # Commanded vehicle depth:1487.679418 # Seafloor depth:-1533.455451 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.437261 meters # Minimum depth: 1532.520567 meters looking forward 100.000000 meters along route # Maximum depth: 1534.143708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.520567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944253; longitude = -129.993798; captureRadius = 10; duration = 106; initialDepth = 1487.520567; finalDepth = 1487.679418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7760330000001 # Actual altitude: 50 # Commanded vehicle depth:1487.520567 # Seafloor depth:-1532.520567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.127078 meters # Minimum depth: 1533.198672 meters looking forward 100.000000 meters along route # Maximum depth: 1534.709044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.198672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945126; longitude = -129.994364; captureRadius = 10; duration = 102; initialDepth = 1488.198672; finalDepth = 1487.520567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.037255 # Actual altitude: 50 # Commanded vehicle depth:1488.198672 # Seafloor depth:-1533.235927 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.770302 meters # Minimum depth: 1534.745578 meters looking forward 100.000000 meters along route # Maximum depth: 1535.089416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.745578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945963; longitude = -129.994907; captureRadius = 10; duration = 109; initialDepth = 1489.745578; finalDepth = 1488.198672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.047714 # Actual altitude: 50 # Commanded vehicle depth:1489.745578 # Seafloor depth:-1534.793292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.655301 meters # Minimum depth: 1534.919285 meters looking forward 100.000000 meters along route # Maximum depth: 1535.795330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.919285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946863; longitude = -129.995491; captureRadius = 10; duration = 103; initialDepth = 1489.919285; finalDepth = 1489.745578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.047714 # Actual altitude: 50 # Commanded vehicle depth:1489.919285 # Seafloor depth:-1534.919285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.907504 meters # Minimum depth: 1535.716016 meters looking forward 100.000000 meters along route # Maximum depth: 1537.743151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.716016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947713; longitude = -129.996042; captureRadius = 10; duration = 104; initialDepth = 1490.716016; finalDepth = 1489.919285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1490.716016 # Seafloor depth:-1535.716016 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.769495 meters # Minimum depth: 1536.442026 meters looking forward 100.000000 meters along route # Maximum depth: 1537.631100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.442026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948573; longitude = -129.996600; captureRadius = 10; duration = 109; initialDepth = 1491.442026; finalDepth = 1490.716016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.091244 # Actual altitude: 50 # Commanded vehicle depth:1491.442026 # Seafloor depth:-1536.533270 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.873384 meters # Minimum depth: 1536.774449 meters looking forward 100.000000 meters along route # Maximum depth: 1537.384848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.774449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949474; longitude = -129.997184; captureRadius = 10; duration = 100; initialDepth = 1491.774449; finalDepth = 1491.442026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.602077 # Actual altitude: 50 # Commanded vehicle depth:1491.774449 # Seafloor depth:-1537.376526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.687888 meters # Minimum depth: 1537.396657 meters looking forward 100.000000 meters along route # Maximum depth: 1538.051608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.396657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950301; longitude = -129.997720; captureRadius = 10; duration = 107; initialDepth = 1492.396657; finalDepth = 1491.774449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.602077 # Actual altitude: 50 # Commanded vehicle depth:1492.396657 # Seafloor depth:-1537.396657 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.768722 meters # Minimum depth: 1537.824740 meters looking forward 100.000000 meters along route # Maximum depth: 1538.641986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.824740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951184; longitude = -129.998293; captureRadius = 10; duration = 110; initialDepth = 1492.824740; finalDepth = 1492.396657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.348958 # Actual altitude: 50 # Commanded vehicle depth:1492.82474 # Seafloor depth:-1538.173698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.768375 meters # Minimum depth: 1538.641075 meters looking forward 100.000000 meters along route # Maximum depth: 1541.555024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.641075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952092; longitude = -129.998882; captureRadius = 10; duration = 108; initialDepth = 1493.641075; finalDepth = 1492.824740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.348958 # Actual altitude: 50 # Commanded vehicle depth:1493.641075 # Seafloor depth:-1538.641075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.768130 meters # Minimum depth: 1539.591654 meters looking forward 100.000000 meters along route # Maximum depth: 1541.072328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.591654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952984; longitude = -129.999460; captureRadius = 10; duration = 109; initialDepth = 1494.591654; finalDepth = 1493.641075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6912589999999 # Actual altitude: 50 # Commanded vehicle depth:1494.591654 # Seafloor depth:-1540.282913 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.767853 meters # Minimum depth: 1539.038705 meters looking forward 100.000000 meters along route # Maximum depth: 1542.129112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.038705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953884; longitude = -130.000044; captureRadius = 10; duration = 109; initialDepth = 1494.038705; finalDepth = 1494.591654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0352700000001 # Actual altitude: 50 # Commanded vehicle depth:1494.038705 # Seafloor depth:-1541.073975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.767574 meters # Minimum depth: 1523.569003 meters looking forward 100.000000 meters along route # Maximum depth: 1536.122129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.569003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954784; longitude = -130.000628; captureRadius = 10; duration = 109; initialDepth = 1478.569003; finalDepth = 1494.038705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.553126 # Actual altitude: 57.553126 # Commanded vehicle depth:1478.569003 # Seafloor depth:-1536.122129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 230.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 230.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.767296 meters # Minimum depth: 1522.259370 meters looking forward 100.000000 meters along route # Maximum depth: 1528.722801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.259370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955684; longitude = -130.001212; captureRadius = 10; duration = 109; initialDepth = 1477.259370; finalDepth = 1478.569003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.553126 # Actual altitude: 57.553126 # Commanded vehicle depth:1477.25937 # Seafloor depth:-1523.535730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 230.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 230.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.523989 meters # Minimum depth: 1529.344289 meters looking forward 100.000000 meters along route # Maximum depth: 1533.911292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.344289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956584; longitude = -130.001795; captureRadius = 10; duration = 107; initialDepth = 1484.344289; finalDepth = 1477.259370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2763600000001 # Actual altitude: 50 # Commanded vehicle depth:1484.344289 # Seafloor depth:-1529.344289 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.033107 meters # Minimum depth: 1531.925438 meters looking forward 100.000000 meters along route # Maximum depth: 1535.034455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.925438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957466; longitude = -130.002367; captureRadius = 10; duration = 101; initialDepth = 1486.925438; finalDepth = 1484.344289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5385329999999 # Actual altitude: 50 # Commanded vehicle depth:1486.925438 # Seafloor depth:-1533.463971 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.766490 meters # Minimum depth: 1526.494382 meters looking forward 100.000000 meters along route # Maximum depth: 1531.350491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.494382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958294; longitude = -130.002905; captureRadius = 10; duration = 109; initialDepth = 1481.494382; finalDepth = 1486.925438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8561089999998 # Actual altitude: 50 # Commanded vehicle depth:1481.494382 # Seafloor depth:-1531.350491 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.742119 meters # Minimum depth: 1532.700652 meters looking forward 100.000000 meters along route # Maximum depth: 1541.612135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.700652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959194; longitude = -130.003488; captureRadius = 10; duration = 104; initialDepth = 1487.700652; finalDepth = 1481.494382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8561089999998 # Actual altitude: 50 # Commanded vehicle depth:1487.700652 # Seafloor depth:-1532.700652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.813444 meters # Minimum depth: 1540.761621 meters looking forward 100.000000 meters along route # Maximum depth: 1541.445085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.761621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960053; longitude = -130.004045; captureRadius = 10; duration = 103; initialDepth = 1495.761621; finalDepth = 1487.700652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.683464 # Actual altitude: 50 # Commanded vehicle depth:1495.761621 # Seafloor depth:-1541.445085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.765682 meters # Minimum depth: 1541.447345 meters looking forward 100.000000 meters along route # Maximum depth: 1542.404380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.447345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960905; longitude = -130.004597; captureRadius = 10; duration = 109; initialDepth = 1496.447345; finalDepth = 1495.761621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.683464 # Actual altitude: 50 # Commanded vehicle depth:1496.447345 # Seafloor depth:-1541.447345 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.960290 meters # Minimum depth: 1541.600447 meters looking forward 100.000000 meters along route # Maximum depth: 1542.589989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.600447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961805; longitude = -130.005181; captureRadius = 10; duration = 101; initialDepth = 1496.600447; finalDepth = 1496.447345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.21416 # Actual altitude: 50 # Commanded vehicle depth:1496.600447 # Seafloor depth:-1541.814607 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.040615 meters # Minimum depth: 1541.603920 meters looking forward 100.000000 meters along route # Maximum depth: 1543.395441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.603920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962641; longitude = -130.005723; captureRadius = 10; duration = 105; initialDepth = 1496.603920; finalDepth = 1496.600447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.499487 # Actual altitude: 50 # Commanded vehicle depth:1496.60392 # Seafloor depth:-1542.103407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69.328750 meters # Minimum depth: 1542.529206 meters looking forward 100.000000 meters along route # Maximum depth: 1545.035781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.529206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963502; longitude = -130.006282; captureRadius = 10; duration = 69; # abortOnTimeout = True; initialDepth = 1497.529206; finalDepth = 1496.603920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2238150000001 # Actual altitude: 50 # Commanded vehicle depth:1497.529206 # Seafloor depth:-1543.753021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.701583 meters # Minimum depth: 1544.397856 meters looking forward 100.000000 meters along route # Maximum depth: 1545.655982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.397856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963245; longitude = -130.007097; captureRadius = 10; duration = 100; initialDepth = 1499.397856; finalDepth = 1497.529206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2238150000001 # Actual altitude: 50 # Commanded vehicle depth:1499.397856 # Seafloor depth:-1545.277365 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 97.148627 meters # Minimum depth: 1544.013807 meters looking forward 100.000000 meters along route # Maximum depth: 1545.895246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.013807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962871; longitude = -130.008281; captureRadius = 10; duration = 97; # abortOnTimeout = True; initialDepth = 1499.013807; finalDepth = 1499.397856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5602289999999 # Actual altitude: 50 # Commanded vehicle depth:1499.013807 # Seafloor depth:-1545.574036 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.797814 meters # Minimum depth: 1543.040108 meters looking forward 100.000000 meters along route # Maximum depth: 1543.875947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.040108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962075; longitude = -130.007764; captureRadius = 10; duration = 109; initialDepth = 1498.040108; finalDepth = 1499.013807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5602289999999 # Actual altitude: 50 # Commanded vehicle depth:1498.040108 # Seafloor depth:-1543.875947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.630914 meters # Minimum depth: 1542.232658 meters looking forward 100.000000 meters along route # Maximum depth: 1543.684731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.232658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961175; longitude = -130.007179; captureRadius = 10; duration = 103; initialDepth = 1497.232658; finalDepth = 1498.040108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.277959 # Actual altitude: 50 # Commanded vehicle depth:1497.232658 # Seafloor depth:-1543.510617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.985703 meters # Minimum depth: 1542.266175 meters looking forward 100.000000 meters along route # Maximum depth: 1542.539613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.266175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960325; longitude = -130.006627; captureRadius = 10; duration = 104; initialDepth = 1497.266175; finalDepth = 1497.232658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.277959 # Actual altitude: 50 # Commanded vehicle depth:1497.266175 # Seafloor depth:-1542.266175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.798625 meters # Minimum depth: 1541.850675 meters looking forward 100.000000 meters along route # Maximum depth: 1543.396596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.850675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959464; longitude = -130.006068; captureRadius = 10; duration = 109; initialDepth = 1496.850675; finalDepth = 1497.266175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7756910000001 # Actual altitude: 50 # Commanded vehicle depth:1496.850675 # Seafloor depth:-1542.626366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.306290 meters # Minimum depth: 1529.010667 meters looking forward 100.000000 meters along route # Maximum depth: 1541.325031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.010667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958564; longitude = -130.005483; captureRadius = 10; duration = 100; initialDepth = 1484.010667; finalDepth = 1496.850675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3143640000001 # Actual altitude: 57.3143640000001 # Commanded vehicle depth:1484.010667 # Seafloor depth:-1541.325031 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 229.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.311865 meters # Minimum depth: 1534.220352 meters looking forward 100.000000 meters along route # Maximum depth: 1537.451805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.220352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957742; longitude = -130.004949; captureRadius = 10; duration = 108; initialDepth = 1489.220352; finalDepth = 1484.010667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3143640000001 # Actual altitude: 57.3143640000001 # Commanded vehicle depth:1489.220352 # Seafloor depth:-1534.220352 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 229.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.829141 meters # Minimum depth: 1523.511847 meters looking forward 100.000000 meters along route # Maximum depth: 1538.954878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.511847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956854; longitude = -130.004372; captureRadius = 10; duration = 109; initialDepth = 1478.511847; finalDepth = 1489.220352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.50091 # Actual altitude: 58.50091 # Commanded vehicle depth:1478.511847 # Seafloor depth:-1537.012757 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 234.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.770006 meters # Minimum depth: 1521.209292 meters looking forward 100.000000 meters along route # Maximum depth: 1523.508250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.209292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955954; longitude = -130.003787; captureRadius = 10; duration = 109; initialDepth = 1476.209292; finalDepth = 1478.511847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.50091 # Actual altitude: 58.50091 # Commanded vehicle depth:1476.209292 # Seafloor depth:-1523.508250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 234.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.799992 meters # Minimum depth: 1522.234868 meters looking forward 100.000000 meters along route # Maximum depth: 1523.070136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.234868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955054; longitude = -130.003203; captureRadius = 10; duration = 109; initialDepth = 1477.234868; finalDepth = 1476.209292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2989580000001 # Actual altitude: 50 # Commanded vehicle depth:1477.234868 # Seafloor depth:-1522.857816 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.800271 meters # Minimum depth: 1522.911243 meters looking forward 100.000000 meters along route # Maximum depth: 1533.216550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.911243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954154; longitude = -130.002618; captureRadius = 10; duration = 109; initialDepth = 1477.911243; finalDepth = 1477.234868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.622948 # Actual altitude: 50 # Commanded vehicle depth:1477.911243 # Seafloor depth:-1523.078280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.915047 meters # Minimum depth: 1534.253229 meters looking forward 100.000000 meters along route # Maximum depth: 1539.580651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.253229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953254; longitude = -130.002033; captureRadius = 10; duration = 106; initialDepth = 1489.253229; finalDepth = 1477.911243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1670369999999 # Actual altitude: 50 # Commanded vehicle depth:1489.253229 # Seafloor depth:-1534.253229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.706237 meters # Minimum depth: 1539.009708 meters looking forward 100.000000 meters along route # Maximum depth: 1539.670387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.009708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952377; longitude = -130.001464; captureRadius = 10; duration = 101; initialDepth = 1494.009708; finalDepth = 1489.253229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6355859999999 # Actual altitude: 50 # Commanded vehicle depth:1494.009708 # Seafloor depth:-1539.645294 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.801081 meters # Minimum depth: 1538.643240 meters looking forward 100.000000 meters along route # Maximum depth: 1539.708718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.643240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951544; longitude = -130.000922; captureRadius = 10; duration = 109; initialDepth = 1493.643240; finalDepth = 1494.009708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8740829999999 # Actual altitude: 50 # Commanded vehicle depth:1493.64324 # Seafloor depth:-1539.517323 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.590374 meters # Minimum depth: 1537.474546 meters looking forward 100.000000 meters along route # Maximum depth: 1538.808288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.474546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950644; longitude = -130.000337; captureRadius = 10; duration = 103; initialDepth = 1492.474546; finalDepth = 1493.643240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.333742 # Actual altitude: 50 # Commanded vehicle depth:1492.474546 # Seafloor depth:-1538.808288 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.032449 meters # Minimum depth: 1537.464180 meters looking forward 100.000000 meters along route # Maximum depth: 1537.981992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.464180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949795; longitude = -129.999786; captureRadius = 10; duration = 105; initialDepth = 1492.464180; finalDepth = 1492.474546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.333742 # Actual altitude: 50 # Commanded vehicle depth:1492.46418 # Seafloor depth:-1537.838422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.801890 meters # Minimum depth: 1537.684000 meters looking forward 100.000000 meters along route # Maximum depth: 1538.386501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.684000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948934; longitude = -129.999226; captureRadius = 10; duration = 109; initialDepth = 1492.684000; finalDepth = 1492.464180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3742420000001 # Actual altitude: 50 # Commanded vehicle depth:1492.684 # Seafloor depth:-1537.684000 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.265652 meters # Minimum depth: 1537.434512 meters looking forward 100.000000 meters along route # Maximum depth: 1538.168254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.434512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948033; longitude = -129.998642; captureRadius = 10; duration = 100; initialDepth = 1492.434512; finalDepth = 1492.684000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7337419999999 # Actual altitude: 50 # Commanded vehicle depth:1492.434512 # Seafloor depth:-1538.168254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.358709 meters # Minimum depth: 1536.715068 meters looking forward 100.000000 meters along route # Maximum depth: 1537.678248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.715068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947212; longitude = -129.998108; captureRadius = 10; duration = 108; initialDepth = 1491.715068; finalDepth = 1492.434512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.96318 # Actual altitude: 50 # Commanded vehicle depth:1491.715068 # Seafloor depth:-1537.678248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.802701 meters # Minimum depth: 1536.826558 meters looking forward 100.000000 meters along route # Maximum depth: 1537.172024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.826558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946323; longitude = -129.997530; captureRadius = 10; duration = 109; initialDepth = 1491.826558; finalDepth = 1491.715068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.96318 # Actual altitude: 50 # Commanded vehicle depth:1491.826558 # Seafloor depth:-1537.172024 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.802979 meters # Minimum depth: 1535.531152 meters looking forward 100.000000 meters along route # Maximum depth: 1536.826512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.531152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945423; longitude = -129.996946; captureRadius = 10; duration = 109; initialDepth = 1490.531152; finalDepth = 1491.826558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2953600000001 # Actual altitude: 50 # Commanded vehicle depth:1490.531152 # Seafloor depth:-1536.826512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.803258 meters # Minimum depth: 1535.501061 meters looking forward 100.000000 meters along route # Maximum depth: 1536.885918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.501061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944523; longitude = -129.996361; captureRadius = 10; duration = 109; initialDepth = 1490.501061; finalDepth = 1490.531152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2953600000001 # Actual altitude: 50 # Commanded vehicle depth:1490.501061 # Seafloor depth:-1535.604394 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.803538 meters # Minimum depth: 1536.243641 meters looking forward 100.000000 meters along route # Maximum depth: 1537.003457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.243641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943623; longitude = -129.995776; captureRadius = 10; duration = 109; initialDepth = 1491.243641; finalDepth = 1490.501061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6512319999999 # Actual altitude: 50 # Commanded vehicle depth:1491.243641 # Seafloor depth:-1536.894873 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 106.874605 meters # Minimum depth: 1533.018024 meters looking forward 100.000000 meters along route # Maximum depth: 1536.398680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.018024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942723; longitude = -129.995191; captureRadius = 10; duration = 106; initialDepth = 1488.018024; finalDepth = 1491.243641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.380656 # Actual altitude: 50 # Commanded vehicle depth:1488.018024 # Seafloor depth:-1536.398680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.752886 meters # Minimum depth: 1532.645597 meters looking forward 100.000000 meters along route # Maximum depth: 1533.800554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.645597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941847; longitude = -129.994622; captureRadius = 10; duration = 101; initialDepth = 1487.645597; finalDepth = 1488.018024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.380656 # Actual altitude: 50 # Commanded vehicle depth:1487.645597 # Seafloor depth:-1532.956625 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.804347 meters # Minimum depth: 1533.918583 meters looking forward 100.000000 meters along route # Maximum depth: 1535.770430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.918583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941013; longitude = -129.994080; captureRadius = 10; duration = 109; initialDepth = 1488.918583; finalDepth = 1487.645597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3110280000001 # Actual altitude: 50 # Commanded vehicle depth:1488.918583 # Seafloor depth:-1533.918583 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.549833 meters # Minimum depth: 1533.482560 meters looking forward 100.000000 meters along route # Maximum depth: 1535.182202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.482560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940113; longitude = -129.993496; captureRadius = 10; duration = 103; initialDepth = 1488.482560; finalDepth = 1488.918583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.699642 # Actual altitude: 50 # Commanded vehicle depth:1488.48256 # Seafloor depth:-1535.182202 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.767668 meters # Minimum depth: 1530.640345 meters looking forward 100.000000 meters along route # Maximum depth: 1533.288442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.640345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939264; longitude = -129.992944; captureRadius = 10; duration = 105; initialDepth = 1485.640345; finalDepth = 1488.482560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.648097 # Actual altitude: 50 # Commanded vehicle depth:1485.640345 # Seafloor depth:-1533.288442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 49.722496 meters # Minimum depth: 1530.274747 meters looking forward 100.000000 meters along route # Maximum depth: 1531.258768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.274747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938397; longitude = -129.992381; captureRadius = 10; duration = 49; # abortOnTimeout = True; initialDepth = 1485.274747; finalDepth = 1485.640345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.648097 # Actual altitude: 50 # Commanded vehicle depth:1485.274747 # Seafloor depth:-1530.474640 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.707859 meters # Minimum depth: 1528.108029 meters looking forward 100.000000 meters along route # Maximum depth: 1530.765168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.108029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937953; longitude = -129.992306; captureRadius = 10; duration = 100; initialDepth = 1483.108029; finalDepth = 1485.274747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.539104 # Actual altitude: 50 # Commanded vehicle depth:1483.108029 # Seafloor depth:-1530.647133 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.707864 meters # Minimum depth: 1527.473038 meters looking forward 100.000000 meters along route # Maximum depth: 1528.566033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.473038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937053; longitude = -129.992153; captureRadius = 10; duration = 100; initialDepth = 1482.473038; finalDepth = 1483.108029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.539104 # Actual altitude: 50 # Commanded vehicle depth:1482.473038 # Seafloor depth:-1528.050580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.707869 meters # Minimum depth: 1527.081611 meters looking forward 100.000000 meters along route # Maximum depth: 1527.549522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.081611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936152; longitude = -129.992000; captureRadius = 10; duration = 100; initialDepth = 1482.081611; finalDepth = 1482.473038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.577542 # Actual altitude: 50 # Commanded vehicle depth:1482.081611 # Seafloor depth:-1527.081611 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.707874 meters # Minimum depth: 1525.456288 meters looking forward 100.000000 meters along route # Maximum depth: 1527.561655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.456288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935252; longitude = -129.991848; captureRadius = 10; duration = 100; initialDepth = 1480.456288; finalDepth = 1482.081611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1053669999999 # Actual altitude: 50 # Commanded vehicle depth:1480.456288 # Seafloor depth:-1527.561655 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.181274 meters # Minimum depth: 1525.523282 meters looking forward 100.000000 meters along route # Maximum depth: 1526.416968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.523282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934352; longitude = -129.991695; captureRadius = 10; duration = 101; initialDepth = 1480.523282; finalDepth = 1480.456288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1053669999999 # Actual altitude: 50 # Commanded vehicle depth:1480.523282 # Seafloor depth:-1525.523282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69.305107 meters # Minimum depth: 1526.225626 meters looking forward 100.000000 meters along route # Maximum depth: 1526.646220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.225626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933448; longitude = -129.991542; captureRadius = 10; duration = 69; # abortOnTimeout = True; initialDepth = 1481.225626; finalDepth = 1480.523282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3351340000002 # Actual altitude: 50 # Commanded vehicle depth:1481.225626 # Seafloor depth:-1526.560760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.952796 meters # Minimum depth: 1526.004946 meters looking forward 100.000000 meters along route # Maximum depth: 1528.265834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.004946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934016; longitude = -129.991912; captureRadius = 10; duration = 106; initialDepth = 1481.004946; finalDepth = 1481.225626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3351340000002 # Actual altitude: 50 # Commanded vehicle depth:1481.004946 # Seafloor depth:-1526.195175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.892033 meters # Minimum depth: 1528.022206 meters looking forward 100.000000 meters along route # Maximum depth: 1529.786717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.022206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934892; longitude = -129.992482; captureRadius = 10; duration = 110; initialDepth = 1483.022206; finalDepth = 1481.004946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3038349999999 # Actual altitude: 50 # Commanded vehicle depth:1483.022206 # Seafloor depth:-1528.326041 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.783940 meters # Minimum depth: 1529.834511 meters looking forward 100.000000 meters along route # Maximum depth: 1532.504827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.834511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935801; longitude = -129.993073; captureRadius = 10; duration = 108; initialDepth = 1484.834511; finalDepth = 1483.022206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3038349999999 # Actual altitude: 50 # Commanded vehicle depth:1484.834511 # Seafloor depth:-1529.834511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.837566 meters # Minimum depth: 1532.868992 meters looking forward 100.000000 meters along route # Maximum depth: 1533.298396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.868992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936693; longitude = -129.993653; captureRadius = 10; duration = 109; initialDepth = 1487.868992; finalDepth = 1484.834511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1487.868992 # Seafloor depth:-1532.868992 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.837286 meters # Minimum depth: 1533.302292 meters looking forward 100.000000 meters along route # Maximum depth: 1535.101148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.302292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937593; longitude = -129.994239; captureRadius = 10; duration = 109; initialDepth = 1488.302292; finalDepth = 1487.868992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1488.302292 # Seafloor depth:-1533.302292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.837005 meters # Minimum depth: 1535.036430 meters looking forward 100.000000 meters along route # Maximum depth: 1535.795679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.036430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938493; longitude = -129.994825; captureRadius = 10; duration = 109; initialDepth = 1490.036430; finalDepth = 1488.302292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2071279999998 # Actual altitude: 50 # Commanded vehicle depth:1490.03643 # Seafloor depth:-1535.243558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.836726 meters # Minimum depth: 1535.915477 meters looking forward 100.000000 meters along route # Maximum depth: 1538.812879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.915477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939393; longitude = -129.995411; captureRadius = 10; duration = 109; initialDepth = 1490.915477; finalDepth = 1490.036430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2071279999998 # Actual altitude: 50 # Commanded vehicle depth:1490.915477 # Seafloor depth:-1535.915477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.395353 meters # Minimum depth: 1536.865830 meters looking forward 100.000000 meters along route # Maximum depth: 1537.508890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.865830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940293; longitude = -129.995996; captureRadius = 10; duration = 105; initialDepth = 1491.865830; finalDepth = 1490.915477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.611836 # Actual altitude: 50 # Commanded vehicle depth:1491.86583 # Seafloor depth:-1537.477666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.293654 meters # Minimum depth: 1536.819392 meters looking forward 100.000000 meters along route # Maximum depth: 1537.463525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.819392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941156; longitude = -129.996559; captureRadius = 10; duration = 103; initialDepth = 1491.819392; finalDepth = 1491.865830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.626937 # Actual altitude: 50 # Commanded vehicle depth:1491.819392 # Seafloor depth:-1537.446329 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.835913 meters # Minimum depth: 1536.846105 meters looking forward 100.000000 meters along route # Maximum depth: 1537.644968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.846105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942003; longitude = -129.997109; captureRadius = 10; duration = 109; initialDepth = 1491.846105; finalDepth = 1491.819392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.626937 # Actual altitude: 50 # Commanded vehicle depth:1491.846105 # Seafloor depth:-1537.438941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.528466 meters # Minimum depth: 1536.281039 meters looking forward 100.000000 meters along route # Maximum depth: 1537.139843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.281039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942903; longitude = -129.997695; captureRadius = 10; duration = 101; initialDepth = 1491.281039; finalDepth = 1491.846105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.592836 # Actual altitude: 50 # Commanded vehicle depth:1491.281039 # Seafloor depth:-1536.545999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 107.158998 meters # Minimum depth: 1536.386427 meters looking forward 100.000000 meters along route # Maximum depth: 1537.132778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.386427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943735; longitude = -129.998237; captureRadius = 10; duration = 107; initialDepth = 1491.386427; finalDepth = 1491.281039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7411940000002 # Actual altitude: 50 # Commanded vehicle depth:1491.386427 # Seafloor depth:-1537.127621 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.679831 meters # Minimum depth: 1536.914508 meters looking forward 100.000000 meters along route # Maximum depth: 1537.962019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.914508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944613; longitude = -129.998808; captureRadius = 10; duration = 110; initialDepth = 1491.914508; finalDepth = 1491.386427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7411940000002 # Actual altitude: 50 # Commanded vehicle depth:1491.914508 # Seafloor depth:-1537.321767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 108.990090 meters # Minimum depth: 1537.157797 meters looking forward 100.000000 meters along route # Maximum depth: 1538.238220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.157797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945520; longitude = -129.999398; captureRadius = 10; duration = 108; initialDepth = 1492.157797; finalDepth = 1491.914508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4072589999998 # Actual altitude: 50 # Commanded vehicle depth:1492.157797 # Seafloor depth:-1537.157797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.834541 meters # Minimum depth: 1538.231878 meters looking forward 100.000000 meters along route # Maximum depth: 1541.295252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.231878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946413; longitude = -129.999980; captureRadius = 10; duration = 109; initialDepth = 1493.231878; finalDepth = 1492.157797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.036687 # Actual altitude: 50 # Commanded vehicle depth:1493.231878 # Seafloor depth:-1538.268565 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.834260 meters # Minimum depth: 1539.806189 meters looking forward 100.000000 meters along route # Maximum depth: 1541.686808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.806189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947313; longitude = -130.000565; captureRadius = 10; duration = 109; initialDepth = 1494.806189; finalDepth = 1493.231878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5302960000001 # Actual altitude: 50 # Commanded vehicle depth:1494.806189 # Seafloor depth:-1541.336485 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.833981 meters # Minimum depth: 1539.129918 meters looking forward 100.000000 meters along route # Maximum depth: 1540.446737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.129918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948213; longitude = -130.001151; captureRadius = 10; duration = 109; initialDepth = 1494.129918; finalDepth = 1494.806189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5302960000001 # Actual altitude: 50 # Commanded vehicle depth:1494.129918 # Seafloor depth:-1540.148595 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.833700 meters # Minimum depth: 1539.140838 meters looking forward 100.000000 meters along route # Maximum depth: 1539.595716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.140838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949114; longitude = -130.001737; captureRadius = 10; duration = 109; initialDepth = 1494.140838; finalDepth = 1494.129918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0186769999998 # Actual altitude: 50 # Commanded vehicle depth:1494.140838 # Seafloor depth:-1539.222762 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.183306 meters # Minimum depth: 1538.663236 meters looking forward 100.000000 meters along route # Maximum depth: 1539.950588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.663236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950014; longitude = -130.002323; captureRadius = 10; duration = 105; initialDepth = 1493.663236; finalDepth = 1494.140838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.280524 # Actual altitude: 50 # Commanded vehicle depth:1493.663236 # Seafloor depth:-1538.943760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.499953 meters # Minimum depth: 1536.979914 meters looking forward 100.000000 meters along route # Maximum depth: 1539.819176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.979914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950876; longitude = -130.002884; captureRadius = 10; duration = 103; initialDepth = 1491.979914; finalDepth = 1493.663236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.839262 # Actual altitude: 50 # Commanded vehicle depth:1491.979914 # Seafloor depth:-1539.819176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.832888 meters # Minimum depth: 1535.015060 meters looking forward 100.000000 meters along route # Maximum depth: 1536.515797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.015060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951724; longitude = -130.003436; captureRadius = 10; duration = 109; initialDepth = 1490.015060; finalDepth = 1491.979914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.839262 # Actual altitude: 50 # Commanded vehicle depth:1490.01506 # Seafloor depth:-1536.515797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.316527 meters # Minimum depth: 1529.497653 meters looking forward 100.000000 meters along route # Maximum depth: 1534.828493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.497653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952624; longitude = -130.004021; captureRadius = 10; duration = 101; initialDepth = 1484.497653; finalDepth = 1490.015060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3308400000001 # Actual altitude: 50.3308400000001 # Commanded vehicle depth:1484.497653 # Seafloor depth:-1534.828493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.365189 meters # Minimum depth: 1530.077296 meters looking forward 100.000000 meters along route # Maximum depth: 1533.203353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.077296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953454; longitude = -130.004562; captureRadius = 10; duration = 107; initialDepth = 1485.077296; finalDepth = 1484.497653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3308400000001 # Actual altitude: 50.3308400000001 # Commanded vehicle depth:1485.077296 # Seafloor depth:-1530.077296 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.467642 meters # Minimum depth: 1530.698912 meters looking forward 100.000000 meters along route # Maximum depth: 1533.553496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.698912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954334; longitude = -130.005134; captureRadius = 10; duration = 110; initialDepth = 1485.698912; finalDepth = 1485.077296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.627804 # Actual altitude: 50 # Commanded vehicle depth:1485.698912 # Seafloor depth:-1533.326716 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.196230 meters # Minimum depth: 1531.220386 meters looking forward 100.000000 meters along route # Maximum depth: 1535.101050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.220386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955239; longitude = -130.005723; captureRadius = 10; duration = 109; initialDepth = 1486.220386; finalDepth = 1485.698912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.627804 # Actual altitude: 50 # Commanded vehicle depth:1486.220386 # Seafloor depth:-1531.220386 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.831515 meters # Minimum depth: 1530.833432 meters looking forward 100.000000 meters along route # Maximum depth: 1535.868254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.833432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956134; longitude = -130.006306; captureRadius = 10; duration = 109; initialDepth = 1485.833432; finalDepth = 1486.220386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1617630000001 # Actual altitude: 50 # Commanded vehicle depth:1485.833432 # Seafloor depth:-1534.995195 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.831236 meters # Minimum depth: 1523.539529 meters looking forward 100.000000 meters along route # Maximum depth: 1530.518742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.539529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957034; longitude = -130.006891; captureRadius = 10; duration = 109; initialDepth = 1478.539529; finalDepth = 1485.833432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9792130000001 # Actual altitude: 51.9792130000001 # Commanded vehicle depth:1478.539529 # Seafloor depth:-1530.518742 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 106.803376 meters # Minimum depth: 1522.449281 meters looking forward 100.000000 meters along route # Maximum depth: 1526.177501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.449281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957934; longitude = -130.007477; captureRadius = 10; duration = 106; initialDepth = 1477.449281; finalDepth = 1478.539529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9792130000001 # Actual altitude: 51.9792130000001 # Commanded vehicle depth:1477.449281 # Seafloor depth:-1523.339368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.92; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.875200 meters # Minimum depth: 1527.793121 meters looking forward 100.000000 meters along route # Maximum depth: 1540.924102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.793121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958810; longitude = -130.008047; captureRadius = 10; duration = 101; initialDepth = 1482.793121; finalDepth = 1477.449281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.890087 # Actual altitude: 50 # Commanded vehicle depth:1482.793121 # Seafloor depth:-1527.793121 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.830424 meters # Minimum depth: 1541.086898 meters looking forward 100.000000 meters along route # Maximum depth: 1542.903154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.086898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959644; longitude = -130.008590; captureRadius = 10; duration = 109; initialDepth = 1496.086898; finalDepth = 1482.793121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1496.086898 # Seafloor depth:-1541.086898 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 102.936672 meters # Minimum depth: 1543.278885 meters looking forward 100.000000 meters along route # Maximum depth: 1544.955795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.278885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960544; longitude = -130.009176; captureRadius = 10; duration = 102; initialDepth = 1498.278885; finalDepth = 1496.086898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1498.278885 # Seafloor depth:-1543.278885 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 104.077107 meters # Minimum depth: 1545.129630 meters looking forward 100.000000 meters along route # Maximum depth: 1545.450418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.129630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961388; longitude = -130.009725; captureRadius = 10; duration = 104; initialDepth = 1500.129630; finalDepth = 1498.278885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1500.12963 # Seafloor depth:-1545.129630 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69.060234 meters # Minimum depth: 1545.240780 meters looking forward 100.000000 meters along route # Maximum depth: 1546.182122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.240780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962241; longitude = -130.010280; captureRadius = 10; duration = 69; # abortOnTimeout = True; initialDepth = 1500.240780; finalDepth = 1500.129630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2695649999998 # Actual altitude: 50 # Commanded vehicle depth:1500.24078 # Seafloor depth:-1545.510345 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.902803 meters # Minimum depth: 1546.318880 meters looking forward 100.000000 meters along route # Maximum depth: 1549.928865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.318880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961985; longitude = -130.011092; captureRadius = 10; duration = 100; initialDepth = 1501.318880; finalDepth = 1500.240780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2695649999998 # Actual altitude: 50 # Commanded vehicle depth:1501.31888 # Seafloor depth:-1546.318880 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 53.135779 meters # Minimum depth: 1548.521393 meters looking forward 100.000000 meters along route # Maximum depth: 1550.236908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.521393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961610; longitude = -130.012278; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 1503.521393; finalDepth = 1501.318880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5085750000001 # Actual altitude: 50 # Commanded vehicle depth:1503.521393 # Seafloor depth:-1550.029968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.935311 meters # Minimum depth: 1540.900424 meters looking forward 100.000000 meters along route # Maximum depth: 1548.956768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.900424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961175; longitude = -130.011995; captureRadius = 10; duration = 110; initialDepth = 1495.900424; finalDepth = 1503.521393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0563440000001 # Actual altitude: 53.0563440000001 # Commanded vehicle depth:1495.900424 # Seafloor depth:-1548.956768 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.723956 meters # Minimum depth: 1540.100787 meters looking forward 100.000000 meters along route # Maximum depth: 1540.854469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.100787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960265; longitude = -130.011403; captureRadius = 10; duration = 108; initialDepth = 1495.100787; finalDepth = 1495.900424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0563440000001 # Actual altitude: 53.0563440000001 # Commanded vehicle depth:1495.100787 # Seafloor depth:-1540.854469 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.830053 meters # Minimum depth: 1536.827363 meters looking forward 100.000000 meters along route # Maximum depth: 1540.413175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.827363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959374; longitude = -130.010823; captureRadius = 10; duration = 109; initialDepth = 1491.827363; finalDepth = 1495.100787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.278155 # Actual altitude: 50 # Commanded vehicle depth:1491.827363 # Seafloor depth:-1540.105518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.830334 meters # Minimum depth: 1535.129104 meters looking forward 100.000000 meters along route # Maximum depth: 1536.807660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.129104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958474; longitude = -130.010237; captureRadius = 10; duration = 109; initialDepth = 1490.129104; finalDepth = 1491.827363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.278155 # Actual altitude: 50 # Commanded vehicle depth:1490.129104 # Seafloor depth:-1536.807660 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.830613 meters # Minimum depth: 1533.243222 meters looking forward 100.000000 meters along route # Maximum depth: 1534.996184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.243222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957574; longitude = -130.009652; captureRadius = 10; duration = 109; initialDepth = 1488.243222; finalDepth = 1490.129104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.752962 # Actual altitude: 50 # Commanded vehicle depth:1488.243222 # Seafloor depth:-1534.996184 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.830894 meters # Minimum depth: 1533.710975 meters looking forward 100.000000 meters along route # Maximum depth: 1536.634517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.710975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956674; longitude = -130.009066; captureRadius = 10; duration = 109; initialDepth = 1488.710975; finalDepth = 1488.243222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.752962 # Actual altitude: 50 # Commanded vehicle depth:1488.710975 # Seafloor depth:-1533.710975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.469221 meters # Minimum depth: 1534.837108 meters looking forward 100.000000 meters along route # Maximum depth: 1536.782772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.837108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955774; longitude = -130.008480; captureRadius = 10; duration = 105; initialDepth = 1489.837108; finalDepth = 1488.710975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.923164 # Actual altitude: 50 # Commanded vehicle depth:1489.837108 # Seafloor depth:-1536.760272 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.210248 meters # Minimum depth: 1534.513014 meters looking forward 100.000000 meters along route # Maximum depth: 1536.646757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.513014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954910; longitude = -130.007918; captureRadius = 10; duration = 103; initialDepth = 1489.513014; finalDepth = 1489.837108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.923164 # Actual altitude: 50 # Commanded vehicle depth:1489.513014 # Seafloor depth:-1534.626384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.831705 meters # Minimum depth: 1534.632741 meters looking forward 100.000000 meters along route # Maximum depth: 1536.010736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.632741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954064; longitude = -130.007367; captureRadius = 10; duration = 109; initialDepth = 1489.632741; finalDepth = 1489.513014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.084908 # Actual altitude: 50 # Commanded vehicle depth:1489.632741 # Seafloor depth:-1535.717649 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.616988 meters # Minimum depth: 1534.878358 meters looking forward 100.000000 meters along route # Maximum depth: 1535.865149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.878358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953164; longitude = -130.006782; captureRadius = 10; duration = 101; initialDepth = 1489.878358; finalDepth = 1489.632741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.084908 # Actual altitude: 50 # Commanded vehicle depth:1489.878358 # Seafloor depth:-1535.865149 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.064025 meters # Minimum depth: 1534.986848 meters looking forward 100.000000 meters along route # Maximum depth: 1538.059097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.986848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952331; longitude = -130.006240; captureRadius = 10; duration = 107; initialDepth = 1489.986848; finalDepth = 1489.878358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.986791 # Actual altitude: 50 # Commanded vehicle depth:1489.986848 # Seafloor depth:-1534.986848 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.778126 meters # Minimum depth: 1538.798790 meters looking forward 100.000000 meters along route # Maximum depth: 1543.178012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.798790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951454; longitude = -130.005669; captureRadius = 10; duration = 110; initialDepth = 1493.798790; finalDepth = 1489.986848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1493.79879 # Seafloor depth:-1538.798790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.887189 meters # Minimum depth: 1542.386955 meters looking forward 100.000000 meters along route # Maximum depth: 1543.408084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.386955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950546; longitude = -130.005078; captureRadius = 10; duration = 108; initialDepth = 1497.386955; finalDepth = 1493.798790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.386955 # Seafloor depth:-1542.386955 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.833078 meters # Minimum depth: 1540.186980 meters looking forward 100.000000 meters along route # Maximum depth: 1543.182165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.186980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949654; longitude = -130.004497; captureRadius = 10; duration = 109; initialDepth = 1495.186980; finalDepth = 1497.386955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.995185 # Actual altitude: 50 # Commanded vehicle depth:1495.18698 # Seafloor depth:-1543.182165 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.833358 meters # Minimum depth: 1541.088505 meters looking forward 100.000000 meters along route # Maximum depth: 1541.653577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.088505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948754; longitude = -130.003912; captureRadius = 10; duration = 109; initialDepth = 1496.088505; finalDepth = 1495.186980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.995185 # Actual altitude: 50 # Commanded vehicle depth:1496.088505 # Seafloor depth:-1541.088505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.833638 meters # Minimum depth: 1539.645232 meters looking forward 100.000000 meters along route # Maximum depth: 1541.141856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.645232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947853; longitude = -130.003326; captureRadius = 10; duration = 109; initialDepth = 1494.645232; finalDepth = 1496.088505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4966239999999 # Actual altitude: 50 # Commanded vehicle depth:1494.645232 # Seafloor depth:-1541.141856 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.833918 meters # Minimum depth: 1539.523919 meters looking forward 100.000000 meters along route # Maximum depth: 1541.876607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.523919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946953; longitude = -130.002740; captureRadius = 10; duration = 109; initialDepth = 1494.523919; finalDepth = 1494.645232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4966239999999 # Actual altitude: 50 # Commanded vehicle depth:1494.523919 # Seafloor depth:-1539.564758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.311883 meters # Minimum depth: 1541.914285 meters looking forward 100.000000 meters along route # Maximum depth: 1542.308161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.914285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946053; longitude = -130.002154; captureRadius = 10; duration = 105; initialDepth = 1496.914285; finalDepth = 1494.523919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.040839 # Actual altitude: 50 # Commanded vehicle depth:1496.914285 # Seafloor depth:-1541.914285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.373332 meters # Minimum depth: 1542.329680 meters looking forward 100.000000 meters along route # Maximum depth: 1544.049850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.329680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945190; longitude = -130.001593; captureRadius = 10; duration = 103; initialDepth = 1497.329680; finalDepth = 1496.914285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.32968 # Seafloor depth:-1542.329680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.834730 meters # Minimum depth: 1542.898811 meters looking forward 100.000000 meters along route # Maximum depth: 1543.199293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.898811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944343; longitude = -130.001041; captureRadius = 10; duration = 109; initialDepth = 1497.898811; finalDepth = 1497.329680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.036229 # Actual altitude: 50 # Commanded vehicle depth:1497.898811 # Seafloor depth:-1542.935040 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.459543 meters # Minimum depth: 1541.753555 meters looking forward 100.000000 meters along route # Maximum depth: 1542.624252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.753555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943443; longitude = -130.000456; captureRadius = 10; duration = 101; initialDepth = 1496.753555; finalDepth = 1497.898811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8706970000001 # Actual altitude: 50 # Commanded vehicle depth:1496.753555 # Seafloor depth:-1542.624252 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.227216 meters # Minimum depth: 1541.457825 meters looking forward 100.000000 meters along route # Maximum depth: 1543.284599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.457825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942612; longitude = -129.999915; captureRadius = 10; duration = 107; initialDepth = 1496.457825; finalDepth = 1496.753555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8706970000001 # Actual altitude: 50 # Commanded vehicle depth:1496.457825 # Seafloor depth:-1541.790958 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.620934 meters # Minimum depth: 1543.516609 meters looking forward 100.000000 meters along route # Maximum depth: 1544.580619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.516609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941733; longitude = -129.999343; captureRadius = 10; duration = 110; initialDepth = 1498.516609; finalDepth = 1496.457825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3331330000001 # Actual altitude: 50 # Commanded vehicle depth:1498.516609 # Seafloor depth:-1543.686379 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.050431 meters # Minimum depth: 1543.063465 meters looking forward 100.000000 meters along route # Maximum depth: 1543.507332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.063465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940826; longitude = -129.998753; captureRadius = 10; duration = 109; initialDepth = 1498.063465; finalDepth = 1498.516609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.443867 # Actual altitude: 50 # Commanded vehicle depth:1498.063465 # Seafloor depth:-1543.507332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.836103 meters # Minimum depth: 1540.820725 meters looking forward 100.000000 meters along route # Maximum depth: 1543.323812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.820725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939933; longitude = -129.998171; captureRadius = 10; duration = 109; initialDepth = 1495.820725; finalDepth = 1498.063465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5030870000001 # Actual altitude: 50 # Commanded vehicle depth:1495.820725 # Seafloor depth:-1543.323812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.836383 meters # Minimum depth: 1538.089386 meters looking forward 100.000000 meters along route # Maximum depth: 1540.776677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.089386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939033; longitude = -129.997586; captureRadius = 10; duration = 109; initialDepth = 1493.089386; finalDepth = 1495.820725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.687291 # Actual altitude: 50 # Commanded vehicle depth:1493.089386 # Seafloor depth:-1540.776677 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.836663 meters # Minimum depth: 1538.336848 meters looking forward 100.000000 meters along route # Maximum depth: 1539.220169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.336848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938133; longitude = -129.997000; captureRadius = 10; duration = 109; initialDepth = 1493.336848; finalDepth = 1493.089386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.687291 # Actual altitude: 50 # Commanded vehicle depth:1493.336848 # Seafloor depth:-1538.336848 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.836943 meters # Minimum depth: 1535.594058 meters looking forward 100.000000 meters along route # Maximum depth: 1538.306091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.594058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937233; longitude = -129.996414; captureRadius = 10; duration = 109; initialDepth = 1490.594058; finalDepth = 1493.336848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.712033 # Actual altitude: 50 # Commanded vehicle depth:1490.594058 # Seafloor depth:-1538.306091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.154537 meters # Minimum depth: 1533.786677 meters looking forward 100.000000 meters along route # Maximum depth: 1535.386741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.786677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936332; longitude = -129.995828; captureRadius = 10; duration = 105; initialDepth = 1488.786677; finalDepth = 1490.594058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.712033 # Actual altitude: 50 # Commanded vehicle depth:1488.786677 # Seafloor depth:-1535.386741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 103.536426 meters # Minimum depth: 1530.788687 meters looking forward 100.000000 meters along route # Maximum depth: 1533.877810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.788687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935471; longitude = -129.995268; captureRadius = 10; duration = 103; initialDepth = 1485.788687; finalDepth = 1488.786677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.066225 # Actual altitude: 50 # Commanded vehicle depth:1485.788687 # Seafloor depth:-1533.854912 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.837755 meters # Minimum depth: 1528.061083 meters looking forward 100.000000 meters along route # Maximum depth: 1530.664789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.061083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934622; longitude = -129.994716; captureRadius = 10; duration = 109; initialDepth = 1483.061083; finalDepth = 1485.788687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.066225 # Actual altitude: 50 # Commanded vehicle depth:1483.061083 # Seafloor depth:-1530.664789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 101.302089 meters # Minimum depth: 1528.536377 meters looking forward 100.000000 meters along route # Maximum depth: 1529.138225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.536377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933722; longitude = -129.994130; captureRadius = 10; duration = 101; initialDepth = 1483.536377; finalDepth = 1483.061083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6037059999999 # Actual altitude: 50 # Commanded vehicle depth:1483.536377 # Seafloor depth:-1528.536377 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.390418 meters # Minimum depth: 1527.880836 meters looking forward 100.000000 meters along route # Maximum depth: 1529.654029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.880836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932892; longitude = -129.993590; captureRadius = 10; duration = 107; initialDepth = 1482.880836; finalDepth = 1483.536377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6524979999999 # Actual altitude: 50 # Commanded vehicle depth:1482.880836 # Seafloor depth:-1528.533334 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 110.463731 meters # Minimum depth: 1528.229684 meters looking forward 100.000000 meters along route # Maximum depth: 1529.367674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.229684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932012; longitude = -129.993017; captureRadius = 10; duration = 110; initialDepth = 1483.229684; finalDepth = 1482.880836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1379900000002 # Actual altitude: 50 # Commanded vehicle depth:1483.229684 # Seafloor depth:-1529.367674 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.213684 meters # Minimum depth: 1528.260176 meters looking forward 100.000000 meters along route # Maximum depth: 1529.110330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.260176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931107; longitude = -129.992428; captureRadius = 10; duration = 109; initialDepth = 1483.260176; finalDepth = 1483.229684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1379900000002 # Actual altitude: 50 # Commanded vehicle depth:1483.260176 # Seafloor depth:-1528.260176 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 109.839128 meters # Minimum depth: 1527.558384 meters looking forward 100.000000 meters along route # Maximum depth: 1529.139811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.558384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930212; longitude = -129.991846; captureRadius = 10; duration = 109; initialDepth = 1482.558384; finalDepth = 1483.260176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5814270000001 # Actual altitude: 50 # Commanded vehicle depth:1482.558384 # Seafloor depth:-1529.139811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.351942 meters # Minimum depth: 1524.191374 meters looking forward 100.000000 meters along route # Maximum depth: 1527.498004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.191374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929312; longitude = -129.991260; captureRadius = 10; duration = 108; initialDepth = 1479.191374; finalDepth = 1482.558384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.30663 # Actual altitude: 50 # Commanded vehicle depth:1479.191374 # Seafloor depth:-1527.498004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 11.359894 meters # Minimum depth: 1524.137146 meters looking forward 100.000000 meters along route # Maximum depth: 1526.062898 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.137146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928424; longitude = -129.990682; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 1479.137146; finalDepth = 1479.191374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.30663 # Actual altitude: 50 # Commanded vehicle depth:1479.137146 # Seafloor depth:-1524.137146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.049989 meters # Minimum depth: 1524.354650 meters looking forward 100.000000 meters along route # Maximum depth: 1524.714505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.354650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928322; longitude = -129.990686; captureRadius = 10; duration = 100; initialDepth = 1479.354650; finalDepth = 1479.137146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1479.35465 # Seafloor depth:-1524.354650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.049975 meters # Minimum depth: 1524.472831 meters looking forward 100.000000 meters along route # Maximum depth: 1525.602902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.472831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927422; longitude = -129.990722; captureRadius = 10; duration = 100; initialDepth = 1479.472831; finalDepth = 1479.354650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0825110000001 # Actual altitude: 50 # Commanded vehicle depth:1479.472831 # Seafloor depth:-1524.555342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.049961 meters # Minimum depth: 1525.822039 meters looking forward 100.000000 meters along route # Maximum depth: 1527.032463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.822039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926522; longitude = -129.990759; captureRadius = 10; duration = 100; initialDepth = 1480.822039; finalDepth = 1479.472831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0825110000001 # Actual altitude: 50 # Commanded vehicle depth:1480.822039 # Seafloor depth:-1525.822039 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 105.219160 meters # Minimum depth: 1526.397694 meters looking forward 100.000000 meters along route # Maximum depth: 1527.137941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.397694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925622; longitude = -129.990795; captureRadius = 10; duration = 105; initialDepth = 1481.397694; finalDepth = 1480.822039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.683217 # Actual altitude: 50 # Commanded vehicle depth:1481.397694 # Seafloor depth:-1527.080911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 60.474010 meters # Minimum depth: 1526.045269 meters looking forward 100.000000 meters along route # Maximum depth: 1527.182441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.045269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924675; longitude = -129.990833; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 1481.045269; finalDepth = 1481.397694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8855780000001 # Actual altitude: 50 # Commanded vehicle depth:1481.045269 # Seafloor depth:-1526.930847 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.620420 meters # Minimum depth: 1525.749876 meters looking forward 100.000000 meters along route # Maximum depth: 1526.072303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.749876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925172; longitude = -129.991152; captureRadius = 10; duration = 109; initialDepth = 1480.749876; finalDepth = 1481.045269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8855780000001 # Actual altitude: 50 # Commanded vehicle depth:1480.749876 # Seafloor depth:-1525.992475 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.508866 meters # Minimum depth: 1525.520604 meters looking forward 100.000000 meters along route # Maximum depth: 1527.171012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.520604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926072; longitude = -129.991731; captureRadius = 10; duration = 107; initialDepth = 1480.520604; finalDepth = 1480.749876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2425989999999 # Actual altitude: 50 # Commanded vehicle depth:1480.520604 # Seafloor depth:-1525.600269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.769176 meters # Minimum depth: 1527.365715 meters looking forward 100.000000 meters along route # Maximum depth: 1530.613473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.365715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926954; longitude = -129.992299; captureRadius = 10; duration = 100; initialDepth = 1482.365715; finalDepth = 1480.520604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.079665 # Actual altitude: 50 # Commanded vehicle depth:1482.365715 # Seafloor depth:-1527.365715 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.619626 meters # Minimum depth: 1530.684067 meters looking forward 100.000000 meters along route # Maximum depth: 1532.588578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.684067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927782; longitude = -129.992831; captureRadius = 10; duration = 109; initialDepth = 1485.684067; finalDepth = 1482.365715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1485.684067 # Seafloor depth:-1530.684067 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.619351 meters # Minimum depth: 1532.296197 meters looking forward 100.000000 meters along route # Maximum depth: 1533.205823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.296197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928682; longitude = -129.993410; captureRadius = 10; duration = 109; initialDepth = 1487.296197; finalDepth = 1485.684067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3336270000002 # Actual altitude: 50 # Commanded vehicle depth:1487.296197 # Seafloor depth:-1532.629824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.619079 meters # Minimum depth: 1532.527018 meters looking forward 100.000000 meters along route # Maximum depth: 1533.168896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.527018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929582; longitude = -129.993989; captureRadius = 10; duration = 109; initialDepth = 1487.527018; finalDepth = 1487.296197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.6418779999999 # Actual altitude: 50 # Commanded vehicle depth:1487.527018 # Seafloor depth:-1533.168896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.618804 meters # Minimum depth: 1530.895221 meters looking forward 100.000000 meters along route # Maximum depth: 1532.965182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.895221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930482; longitude = -129.994567; captureRadius = 10; duration = 109; initialDepth = 1485.895221; finalDepth = 1487.527018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0699609999999 # Actual altitude: 50 # Commanded vehicle depth:1485.895221 # Seafloor depth:-1532.965182 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.618531 meters # Minimum depth: 1529.919089 meters looking forward 100.000000 meters along route # Maximum depth: 1530.872293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.919089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931382; longitude = -129.995146; captureRadius = 10; duration = 109; initialDepth = 1484.919089; finalDepth = 1485.895221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0699609999999 # Actual altitude: 50 # Commanded vehicle depth:1484.919089 # Seafloor depth:-1530.872293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.618257 meters # Minimum depth: 1529.232232 meters looking forward 100.000000 meters along route # Maximum depth: 1529.905919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.232232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932282; longitude = -129.995725; captureRadius = 10; duration = 109; initialDepth = 1484.232232; finalDepth = 1484.919089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9532039999999 # Actual altitude: 50 # Commanded vehicle depth:1484.232232 # Seafloor depth:-1529.832407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.617983 meters # Minimum depth: 1529.532940 meters looking forward 100.000000 meters along route # Maximum depth: 1531.258208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.532940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933182; longitude = -129.996304; captureRadius = 10; duration = 109; initialDepth = 1484.532940; finalDepth = 1484.232232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.600175 # Actual altitude: 50 # Commanded vehicle depth:1484.53294 # Seafloor depth:-1529.532940 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.716610 meters # Minimum depth: 1530.900403 meters looking forward 100.000000 meters along route # Maximum depth: 1536.437920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.900403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934082; longitude = -129.996883; captureRadius = 10; duration = 109; initialDepth = 1485.900403; finalDepth = 1484.532940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.269045 # Actual altitude: 50 # Commanded vehicle depth:1485.900403 # Seafloor depth:-1531.169448 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.518535 meters # Minimum depth: 1536.448004 meters looking forward 100.000000 meters along route # Maximum depth: 1542.378955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.448004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934983; longitude = -129.997462; captureRadius = 10; duration = 109; initialDepth = 1491.448004; finalDepth = 1485.900403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.269045 # Actual altitude: 50 # Commanded vehicle depth:1491.448004 # Seafloor depth:-1536.448004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 102.369835 meters # Minimum depth: 1542.651642 meters looking forward 100.000000 meters along route # Maximum depth: 1543.964274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1700.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.651642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935882; longitude = -129.998040; captureRadius = 10; duration = 102; initialDepth = 1497.651642; finalDepth = 1491.448004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.651642 # Seafloor depth:-1542.651642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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: 45.090815 # Actual altitude: 50 # Commanded vehicle depth:1497.941473 # Seafloor depth:-1543.032288 # 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: 1542.941473 meters looking forward 100.000000 meters along route # Maximum depth: 1543.964274 meters looking forward 100.000000 meters along route # Vehicle depth: 1497.941473 meters behavior waypoint { latitude = 45.936723; longitude = -129.998581; captureRadius = 10; duration = 500; depth = 1497.941473; 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 1497.941473 meters set by local depth and desired altitude behavior descend { duration = 4440; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1542.941473 meters looking forward 100.000000 meters along route # Maximum depth: 1543.964274 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 45.936723; longitude = -129.998581; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 190.00; 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 = 190.00; 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; } # ####################################################### #######################################################