# 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: Axial2008_1v9.rte # Mission File: Axial2008_1v9.cfg # Distance: 81394.804126 (m) # Estimated Time: 54596 (s) 15.166 (hr) # Abort Time: 61151 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1848 (s) # Way Points: 97 # Route Points: 834 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Subbottom disabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1542.796054 (m) # Abort Vehicle Depth: 1567.796054 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -130.011033 45.933567 -1546.359985 0.000000 3 # 1 -130.015417 45.934826 -1544.063599 367.554044 1 # 2 -130.017244 45.936386 -1550.828430 591.404397 1 # 3 -130.018706 45.938065 -1550.625885 809.696485 1 # 4 -130.019995 45.939730 -1545.900848 1019.964059 1 # 5 -130.020855 45.940704 -1536.768341 1147.075865 1 # 6 -130.021887 45.941829 -1532.527191 1295.487528 1 # 7 -130.021951 45.943493 -1543.630432 1480.448291 1 # 8 -130.023563 45.944258 -1545.124420 1631.576036 1 # 9 -130.023886 45.945518 -1545.608032 1773.801301 1 # 10 -130.024509 45.946522 -1540.068878 1895.363627 1 # 11 -130.025734 45.948906 -1556.402893 2176.763873 1 # 12 -130.026637 45.950751 -1550.508301 2393.388384 1 # 13 -130.027819 45.951456 -1542.377777 2513.926275 1 # 14 -130.028012 45.952445 -1546.435150 2624.832010 1 # 15 -130.027475 45.953855 -1551.938995 2786.937445 1 # 16 -130.029151 45.956599 -1545.528137 3118.350983 4 # 17 -130.028077 45.957034 -1563.812195 3214.601043 3 # 18 -130.026314 45.953135 -1551.698181 3668.872246 1 # 19 -130.015675 45.936086 -1547.603577 5734.983679 3 # 20 -129.997320 45.937285 -1538.045898 7164.203459 3 # 21 -130.012795 45.961847 -1547.789429 10145.330717 4 # 22 -130.014859 45.961217 -1545.691864 10319.921994 3 # 23 -129.990421 45.922575 -1523.752838 15012.934306 4 # 24 -129.992807 45.922575 -1524.374695 15197.958783 3 # 25 -130.016771 45.960557 -1555.122162 19809.051340 4 # 26 -130.018856 45.959913 -1548.414215 19985.762367 3 # 27 -129.995171 45.922545 -1528.807159 24525.711468 4 # 28 -129.997557 45.922500 -1532.906555 24710.803797 3 # 29 -130.020855 45.959283 -1565.966766 29179.177171 4 # 30 -130.022832 45.958668 -1565.064514 29346.934772 3 # 31 -129.999835 45.922440 -1541.777283 33749.477465 4 # 32 -130.002199 45.922410 -1540.712311 33932.826984 3 # 33 -130.024724 45.958023 -1567.598511 38258.080477 4 # 34 -130.026852 45.957349 -1563.117188 38439.203207 3 # 35 -130.003037 45.919756 -1542.545349 43006.132472 3 # 36 -130.006057 45.920176 -1527.350281 43244.936808 1 # 37 -130.010121 45.922786 -1501.228516 43673.218917 1 # 38 -130.013648 45.926715 -1462.535278 44188.378305 1 # 39 -130.015712 45.928919 -1443.972626 44480.929909 1 # 40 -130.017411 45.931109 -1430.004456 44757.638850 1 # 41 -130.019067 45.933868 -1416.676636 45090.003420 1 # 42 -130.020830 45.936283 -1413.046844 45391.149574 1 # 43 -130.023131 45.938907 -1402.541595 45732.954864 1 # 44 -130.025324 45.942282 -1399.553589 46144.700437 1 # 45 -130.027474 45.946226 -1406.665741 46613.556015 1 # 46 -130.029345 45.948970 -1409.713379 46951.187265 1 # 47 -130.030700 45.950905 -1411.939026 47190.473390 1 # 48 -130.031603 45.953380 -1415.897247 47474.247975 1 # 49 -130.032420 45.955419 -1417.891449 47709.492645 1 # 50 -130.032807 45.957579 -1412.733582 47951.367219 1 # 51 -130.033925 45.959903 -1420.157227 48223.745142 1 # 52 -130.035280 45.962243 -1433.941101 48504.155803 1 # 53 -130.036699 45.965572 -1460.924957 48890.054383 1 # 54 -130.037258 45.967702 -1470.817535 49130.660224 1 # 55 -130.038247 45.969891 -1481.388824 49385.676667 1 # 56 -130.040183 45.972051 -1462.286285 49668.703120 1 # 57 -130.040871 45.974495 -1463.297791 49945.450500 1 # 58 -130.040634 45.976865 -1495.263214 50209.432989 1 # 59 -130.039925 45.980194 -1495.706421 50583.391414 1 # 60 -130.038613 45.983943 -1496.164490 51012.181449 1 # 61 -130.036484 45.987453 -1503.622772 51435.627685 1 # 62 -130.034119 45.989102 -1501.786560 51694.718606 1 # 63 -130.031925 45.989867 -1487.996460 51884.725079 4 # 64 -130.031925 45.991352 -1487.053223 52049.731450 3 # 65 -130.035129 45.990467 -1492.895111 52316.658897 1 # 66 -130.038355 45.988353 -1506.022888 52659.600845 1 # 67 -130.040548 45.984528 -1503.312347 53117.304799 1 # 68 -130.041968 45.980479 -1495.575562 53580.462514 1 # 69 -130.042634 45.975470 -1481.456818 54139.425512 1 # 70 -130.041279 45.971781 -1459.555634 54562.559065 1 # 71 -130.032227 45.950515 -1414.572662 57027.447974 1 # 72 -130.025130 45.938277 -1401.551270 58494.332572 1 # 73 -130.017540 45.928140 -1435.796539 59765.153033 1 # 74 -130.007906 45.918706 -1526.127625 61052.372266 4 # 75 -130.007863 45.915947 -1527.189240 61358.952800 3 # 76 -130.019346 45.927375 -1426.788177 62909.875704 1 # 77 -130.027130 45.937648 -1402.641571 64201.074145 1 # 78 -130.034226 45.949975 -1417.382904 65677.104378 1 # 79 -130.043279 45.971331 -1469.649506 68151.606072 1 # 80 -130.044892 45.975335 -1482.886841 68613.729493 1 # 81 -130.044118 45.980779 -1498.233032 69221.606113 1 # 82 -130.042613 45.985068 -1514.158813 69712.232265 1 # 83 -130.040118 45.989282 -1509.858185 70218.785669 1 # 84 -130.036054 45.991892 -1508.988647 70646.784018 1 # 85 -130.031861 45.992927 -1526.612152 70991.290188 4 # 86 -130.031710 45.994426 -1532.873291 71158.262299 3 # 87 -130.037065 45.993212 -1539.136719 71594.377582 1 # 88 -130.041989 45.990182 -1529.880707 72103.093717 1 # 89 -130.044677 45.985653 -1517.430756 72647.703745 1 # 90 -130.046290 45.981154 -1501.015747 73162.990125 1 # 91 -130.047085 45.975380 -1487.679504 73807.519781 1 # 92 -130.045387 45.970986 -1482.806335 74313.173284 1 # 93 -130.036248 45.949420 -1424.202637 76811.943381 1 # 94 -130.029087 45.937048 -1406.586945 78294.496424 1 # 95 -130.021453 45.926580 -1430.068085 79599.577038 1 # 96 -130.007713 45.913577 -1540.115509 81394.804126 4 # # A total of 834 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 81394.804126 #define MISSION_TIME 54596 #define MISSION_TIMEOUT 60840 #define DEPTH_MAX 1542.796054 #define DEPTH_ABORT 1567.796054 #define ALTITUDE_DESIRED 40.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 1496.359985 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1848; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 100.895453 meters # Minimum depth: 1540.115509 meters looking forward 0.000000 meters along route # Maximum depth: 1540.115509 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.115509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913577; longitude = -130.007713; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1492.682249; finalDepth = 1500.115509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.115509 # Seafloor depth:-1540.115509 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1532.682249 meters looking forward 0.000000 meters along route # Maximum depth: 1532.682249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.682249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914136; longitude = -130.008303; captureRadius = 10; duration = 100; initialDepth = 1488.818438; finalDepth = 1492.682249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.682249 # Seafloor depth:-1532.682249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1528.818438 meters looking forward 0.000000 meters along route # Maximum depth: 1528.818438 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.818438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914868; longitude = -130.009077; captureRadius = 10; duration = 100; initialDepth = 1460.418185; finalDepth = 1488.818438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.818438 # Seafloor depth:-1528.818438 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1500.418185 meters looking forward 0.000000 meters along route # Maximum depth: 1500.418185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.418185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915600; longitude = -130.009851; captureRadius = 10; duration = 100; initialDepth = 1460.636879; finalDepth = 1460.418185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.418185 # Seafloor depth:-1500.418185 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1500.636879 meters looking forward 0.000000 meters along route # Maximum depth: 1500.636879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.636879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916332; longitude = -130.010624; captureRadius = 10; duration = 100; initialDepth = 1460.089176; finalDepth = 1460.636879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.636879 # Seafloor depth:-1500.636879 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1500.089176 meters looking forward 0.000000 meters along route # Maximum depth: 1500.089176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.089176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917072; longitude = -130.011406; captureRadius = 10; duration = 100; initialDepth = 1460.933848; finalDepth = 1460.089176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.089176 # Seafloor depth:-1500.089176 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1500.933848 meters looking forward 0.000000 meters along route # Maximum depth: 1500.933848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.933848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917797; longitude = -130.012172; captureRadius = 10; duration = 100; initialDepth = 1455.544907; finalDepth = 1460.933848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.933848 # Seafloor depth:-1500.933848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1495.544907 meters looking forward 0.000000 meters along route # Maximum depth: 1495.544907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.544907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918529; longitude = -130.012946; captureRadius = 10; duration = 100; initialDepth = 1449.323824; finalDepth = 1455.544907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.544907 # Seafloor depth:-1495.544907 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1489.323824 meters looking forward 0.000000 meters along route # Maximum depth: 1489.323824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.323824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919261; longitude = -130.013719; captureRadius = 10; duration = 100; initialDepth = 1436.265941; finalDepth = 1449.323824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.323824 # Seafloor depth:-1489.323824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1476.265941 meters looking forward 0.000000 meters along route # Maximum depth: 1476.265941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.265941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919996; longitude = -130.014496; captureRadius = 10; duration = 100; initialDepth = 1443.738218; finalDepth = 1436.265941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1436.265941 # Seafloor depth:-1476.265941 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1483.738218 meters looking forward 0.000000 meters along route # Maximum depth: 1483.738218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.738218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920726; longitude = -130.015267; captureRadius = 10; duration = 100; initialDepth = 1434.286435; finalDepth = 1443.738218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1443.738218 # Seafloor depth:-1483.738218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1474.286435 meters looking forward 0.000000 meters along route # Maximum depth: 1474.286435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1434.286435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921458; longitude = -130.016041; captureRadius = 10; duration = 100; initialDepth = 1428.081536; finalDepth = 1434.286435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1434.286435 # Seafloor depth:-1474.286435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1468.081536 meters looking forward 0.000000 meters along route # Maximum depth: 1468.081536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.081536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922190; longitude = -130.016814; captureRadius = 10; duration = 100; initialDepth = 1421.441778; finalDepth = 1428.081536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1428.081536 # Seafloor depth:-1468.081536 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1461.441778 meters looking forward 0.000000 meters along route # Maximum depth: 1461.441778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.441778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922922; longitude = -130.017588; captureRadius = 10; duration = 100; initialDepth = 1415.128899; finalDepth = 1421.441778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1421.441778 # Seafloor depth:-1461.441778 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1455.128899 meters looking forward 0.000000 meters along route # Maximum depth: 1455.128899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.128899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923655; longitude = -130.018362; captureRadius = 10; duration = 100; initialDepth = 1407.799179; finalDepth = 1415.128899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1415.128899 # Seafloor depth:-1455.128899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1447.799179 meters looking forward 0.000000 meters along route # Maximum depth: 1447.799179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.799179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924387; longitude = -130.019136; captureRadius = 10; duration = 100; initialDepth = 1404.610861; finalDepth = 1407.799179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1407.799179 # Seafloor depth:-1447.799179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1444.610861 meters looking forward 0.000000 meters along route # Maximum depth: 1444.610861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.610861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925124; longitude = -130.019915; captureRadius = 10; duration = 100; initialDepth = 1395.677009; finalDepth = 1404.610861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1404.610861 # Seafloor depth:-1444.610861 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.895453 meters # Minimum depth: 1435.677009 meters looking forward 0.000000 meters along route # Maximum depth: 1435.677009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.677009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925851; longitude = -130.020683; captureRadius = 10; duration = 100; initialDepth = 1390.068085; finalDepth = 1395.677009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1395.677009 # Seafloor depth:-1435.677009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 95 # Segment length 100.895453 meters # Minimum depth: 1430.068085 meters looking forward 0.000000 meters along route # Maximum depth: 1430.068085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.068085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926580; longitude = -130.021453; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1384.724724; finalDepth = 1390.068085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1390.068085 # Seafloor depth:-1430.068085 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1424.724724 meters looking forward 0.000000 meters along route # Maximum depth: 1424.724724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.724724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927329; longitude = -130.021999; captureRadius = 10; duration = 100; initialDepth = 1383.826423; finalDepth = 1384.724724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1384.724724 # Seafloor depth:-1424.724724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1423.826423 meters looking forward 0.000000 meters along route # Maximum depth: 1423.826423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.826423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928138; longitude = -130.022590; captureRadius = 10; duration = 100; initialDepth = 1386.606426; finalDepth = 1383.826423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1383.826423 # Seafloor depth:-1423.826423 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1426.606426 meters looking forward 0.000000 meters along route # Maximum depth: 1426.606426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.606426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928948; longitude = -130.023180; captureRadius = 10; duration = 100; initialDepth = 1383.446526; finalDepth = 1386.606426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1386.606426 # Seafloor depth:-1426.606426 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1423.446526 meters looking forward 0.000000 meters along route # Maximum depth: 1423.446526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.446526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929758; longitude = -130.023771; captureRadius = 10; duration = 100; initialDepth = 1376.068726; finalDepth = 1383.446526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1383.446526 # Seafloor depth:-1423.446526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1416.068726 meters looking forward 0.000000 meters along route # Maximum depth: 1416.068726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.068726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930568; longitude = -130.024361; captureRadius = 10; duration = 100; initialDepth = 1374.439810; finalDepth = 1376.068726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1376.068726 # Seafloor depth:-1416.068726 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1414.439810 meters looking forward 0.000000 meters along route # Maximum depth: 1414.439810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.439810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931377; longitude = -130.024952; captureRadius = 10; duration = 100; initialDepth = 1374.605237; finalDepth = 1374.439810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1374.43981 # Seafloor depth:-1414.439810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1414.605237 meters looking forward 0.000000 meters along route # Maximum depth: 1414.605237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.605237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932187; longitude = -130.025542; captureRadius = 10; duration = 100; initialDepth = 1373.811005; finalDepth = 1374.605237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1374.605237 # Seafloor depth:-1414.605237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1413.811005 meters looking forward 0.000000 meters along route # Maximum depth: 1413.811005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.811005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932997; longitude = -130.026133; captureRadius = 10; duration = 100; initialDepth = 1372.593265; finalDepth = 1373.811005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.811005 # Seafloor depth:-1413.811005 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1412.593265 meters looking forward 0.000000 meters along route # Maximum depth: 1412.593265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.593265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933807; longitude = -130.026723; captureRadius = 10; duration = 100; initialDepth = 1372.497550; finalDepth = 1372.593265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.593265 # Seafloor depth:-1412.593265 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1412.497550 meters looking forward 0.000000 meters along route # Maximum depth: 1412.497550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.497550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934616; longitude = -130.027314; captureRadius = 10; duration = 100; initialDepth = 1367.256900; finalDepth = 1372.497550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.49755 # Seafloor depth:-1412.497550 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1407.256900 meters looking forward 0.000000 meters along route # Maximum depth: 1407.256900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.256900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935427; longitude = -130.027905; captureRadius = 10; duration = 100; initialDepth = 1366.482006; finalDepth = 1367.256900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1367.2569 # Seafloor depth:-1407.256900 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.895453 meters # Minimum depth: 1406.482006 meters looking forward 0.000000 meters along route # Maximum depth: 1406.482006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.482006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936236; longitude = -130.028495; captureRadius = 10; duration = 100; initialDepth = 1366.586945; finalDepth = 1366.482006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1366.482006 # Seafloor depth:-1406.482006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 94 # Segment length 100.895453 meters # Minimum depth: 1406.586945 meters looking forward 0.000000 meters along route # Maximum depth: 1406.586945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.586945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937048; longitude = -130.029087; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1367.556807; finalDepth = 1366.586945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1366.586945 # Seafloor depth:-1406.586945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1407.556807 meters looking forward 0.000000 meters along route # Maximum depth: 1407.556807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.556807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937456; longitude = -130.029323; captureRadius = 10; duration = 100; initialDepth = 1368.530175; finalDepth = 1367.556807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1367.556807 # Seafloor depth:-1407.556807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1408.530175 meters looking forward 0.000000 meters along route # Maximum depth: 1408.530175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.530175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938305; longitude = -130.029815; captureRadius = 10; duration = 100; initialDepth = 1368.097851; finalDepth = 1368.530175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1368.530175 # Seafloor depth:-1408.530175 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1408.097851 meters looking forward 0.000000 meters along route # Maximum depth: 1408.097851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.097851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939160; longitude = -130.030309; captureRadius = 10; duration = 100; initialDepth = 1368.780478; finalDepth = 1368.097851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1368.097851 # Seafloor depth:-1408.097851 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1408.780478 meters looking forward 0.000000 meters along route # Maximum depth: 1408.780478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.780478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940018; longitude = -130.030806; captureRadius = 10; duration = 100; initialDepth = 1371.099788; finalDepth = 1368.780478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1368.780478 # Seafloor depth:-1408.780478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1411.099788 meters looking forward 0.000000 meters along route # Maximum depth: 1411.099788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.099788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940869; longitude = -130.031299; captureRadius = 10; duration = 100; initialDepth = 1372.516427; finalDepth = 1371.099788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1371.099788 # Seafloor depth:-1411.099788 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1412.516427 meters looking forward 0.000000 meters along route # Maximum depth: 1412.516427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.516427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941724; longitude = -130.031793; captureRadius = 10; duration = 100; initialDepth = 1373.463903; finalDepth = 1372.516427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.516427 # Seafloor depth:-1412.516427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1413.463903 meters looking forward 0.000000 meters along route # Maximum depth: 1413.463903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.463903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942581; longitude = -130.032289; captureRadius = 10; duration = 100; initialDepth = 1374.616979; finalDepth = 1373.463903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.463903 # Seafloor depth:-1413.463903 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1414.616979 meters looking forward 0.000000 meters along route # Maximum depth: 1414.616979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.616979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943433; longitude = -130.032783; captureRadius = 10; duration = 100; initialDepth = 1376.307521; finalDepth = 1374.616979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1374.616979 # Seafloor depth:-1414.616979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1416.307521 meters looking forward 0.000000 meters along route # Maximum depth: 1416.307521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.307521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944288; longitude = -130.033278; captureRadius = 10; duration = 100; initialDepth = 1372.661387; finalDepth = 1376.307521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1376.307521 # Seafloor depth:-1416.307521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1412.661387 meters looking forward 0.000000 meters along route # Maximum depth: 1412.661387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.661387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945143; longitude = -130.033772; captureRadius = 10; duration = 100; initialDepth = 1373.804745; finalDepth = 1372.661387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.661387 # Seafloor depth:-1412.661387 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1413.804745 meters looking forward 0.000000 meters along route # Maximum depth: 1413.804745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.804745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945997; longitude = -130.034267; captureRadius = 10; duration = 100; initialDepth = 1376.668986; finalDepth = 1373.804745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.804745 # Seafloor depth:-1413.804745 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1416.668986 meters looking forward 0.000000 meters along route # Maximum depth: 1416.668986 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.668986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946852; longitude = -130.034762; captureRadius = 10; duration = 100; initialDepth = 1375.764563; finalDepth = 1376.668986; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1376.668986 # Seafloor depth:-1416.668986 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1415.764563 meters looking forward 0.000000 meters along route # Maximum depth: 1415.764563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.764563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947707; longitude = -130.035256; captureRadius = 10; duration = 100; initialDepth = 1377.869761; finalDepth = 1375.764563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1375.764563 # Seafloor depth:-1415.764563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.895453 meters # Minimum depth: 1417.869761 meters looking forward 0.000000 meters along route # Maximum depth: 1417.869761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.869761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948562; longitude = -130.035751; captureRadius = 10; duration = 100; initialDepth = 1384.202637; finalDepth = 1377.869761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.869761 # Seafloor depth:-1417.869761 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 93 # Segment length 100.895453 meters # Minimum depth: 1424.202637 meters looking forward 0.000000 meters along route # Maximum depth: 1424.202637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.202637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949420; longitude = -130.036248; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1385.601429; finalDepth = 1384.202637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1384.202637 # Seafloor depth:-1424.202637 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1425.601429 meters looking forward 0.000000 meters along route # Maximum depth: 1425.601429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.601429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949969; longitude = -130.036480; captureRadius = 10; duration = 100; initialDepth = 1386.300667; finalDepth = 1385.601429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1385.601429 # Seafloor depth:-1425.601429 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1426.300667 meters looking forward 0.000000 meters along route # Maximum depth: 1426.300667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.300667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950881; longitude = -130.036867; captureRadius = 10; duration = 100; initialDepth = 1389.650054; finalDepth = 1386.300667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1386.300667 # Seafloor depth:-1426.300667 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1429.650054 meters looking forward 0.000000 meters along route # Maximum depth: 1429.650054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.650054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951794; longitude = -130.037254; captureRadius = 10; duration = 100; initialDepth = 1393.046764; finalDepth = 1389.650054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1389.650054 # Seafloor depth:-1429.650054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1433.046764 meters looking forward 0.000000 meters along route # Maximum depth: 1433.046764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.046764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952707; longitude = -130.037641; captureRadius = 10; duration = 100; initialDepth = 1395.320780; finalDepth = 1393.046764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1393.046764 # Seafloor depth:-1433.046764 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1435.320780 meters looking forward 0.000000 meters along route # Maximum depth: 1435.320780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.320780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953620; longitude = -130.038028; captureRadius = 10; duration = 100; initialDepth = 1396.583848; finalDepth = 1395.320780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1395.32078 # Seafloor depth:-1435.320780 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1436.583848 meters looking forward 0.000000 meters along route # Maximum depth: 1436.583848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.583848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954533; longitude = -130.038415; captureRadius = 10; duration = 100; initialDepth = 1397.529668; finalDepth = 1396.583848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1396.583848 # Seafloor depth:-1436.583848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1437.529668 meters looking forward 0.000000 meters along route # Maximum depth: 1437.529668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.529668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955446; longitude = -130.038802; captureRadius = 10; duration = 100; initialDepth = 1396.011513; finalDepth = 1397.529668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1397.529668 # Seafloor depth:-1437.529668 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1436.011513 meters looking forward 0.000000 meters along route # Maximum depth: 1436.011513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.011513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956359; longitude = -130.039189; captureRadius = 10; duration = 100; initialDepth = 1398.484285; finalDepth = 1396.011513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1396.011513 # Seafloor depth:-1436.011513 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1438.484285 meters looking forward 0.000000 meters along route # Maximum depth: 1438.484285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.484285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957272; longitude = -130.039575; captureRadius = 10; duration = 100; initialDepth = 1400.638648; finalDepth = 1398.484285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1398.484285 # Seafloor depth:-1438.484285 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1440.638648 meters looking forward 0.000000 meters along route # Maximum depth: 1440.638648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.638648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958185; longitude = -130.039962; captureRadius = 10; duration = 100; initialDepth = 1400.472102; finalDepth = 1400.638648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1400.638648 # Seafloor depth:-1440.638648 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1440.472102 meters looking forward 0.000000 meters along route # Maximum depth: 1440.472102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.472102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959098; longitude = -130.040349; captureRadius = 10; duration = 100; initialDepth = 1396.769071; finalDepth = 1400.472102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1400.472102 # Seafloor depth:-1440.472102 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1436.769071 meters looking forward 0.000000 meters along route # Maximum depth: 1436.769071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.769071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960011; longitude = -130.040736; captureRadius = 10; duration = 100; initialDepth = 1396.838904; finalDepth = 1396.769071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1396.769071 # Seafloor depth:-1436.769071 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1436.838904 meters looking forward 0.000000 meters along route # Maximum depth: 1436.838904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.838904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960924; longitude = -130.041123; captureRadius = 10; duration = 100; initialDepth = 1399.907003; finalDepth = 1396.838904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1396.838904 # Seafloor depth:-1436.838904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1439.907003 meters looking forward 0.000000 meters along route # Maximum depth: 1439.907003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1399.907003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961837; longitude = -130.041510; captureRadius = 10; duration = 100; initialDepth = 1406.981778; finalDepth = 1399.907003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1399.907003 # Seafloor depth:-1439.907003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1446.981778 meters looking forward 0.000000 meters along route # Maximum depth: 1446.981778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.981778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962750; longitude = -130.041897; captureRadius = 10; duration = 100; initialDepth = 1413.483680; finalDepth = 1406.981778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1406.981778 # Seafloor depth:-1446.981778 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1453.483680 meters looking forward 0.000000 meters along route # Maximum depth: 1453.483680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.483680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963662; longitude = -130.042284; captureRadius = 10; duration = 100; initialDepth = 1417.239669; finalDepth = 1413.483680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1413.48368 # Seafloor depth:-1453.483680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1457.239669 meters looking forward 0.000000 meters along route # Maximum depth: 1457.239669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.239669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964575; longitude = -130.042670; captureRadius = 10; duration = 100; initialDepth = 1416.499608; finalDepth = 1417.239669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1417.239669 # Seafloor depth:-1457.239669 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1456.499608 meters looking forward 0.000000 meters along route # Maximum depth: 1456.499608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.499608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965488; longitude = -130.043057; captureRadius = 10; duration = 100; initialDepth = 1418.604456; finalDepth = 1416.499608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1416.499608 # Seafloor depth:-1456.499608 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1458.604456 meters looking forward 0.000000 meters along route # Maximum depth: 1458.604456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.604456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966401; longitude = -130.043444; captureRadius = 10; duration = 100; initialDepth = 1427.696247; finalDepth = 1418.604456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1418.604456 # Seafloor depth:-1458.604456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1467.696247 meters looking forward 0.000000 meters along route # Maximum depth: 1467.696247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.696247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967314; longitude = -130.043831; captureRadius = 10; duration = 100; initialDepth = 1435.576855; finalDepth = 1427.696247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1427.696247 # Seafloor depth:-1467.696247 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1475.576855 meters looking forward 0.000000 meters along route # Maximum depth: 1475.576855 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.576855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968227; longitude = -130.044218; captureRadius = 10; duration = 100; initialDepth = 1440.274646; finalDepth = 1435.576855; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1435.576855 # Seafloor depth:-1475.576855 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1480.274646 meters looking forward 0.000000 meters along route # Maximum depth: 1480.274646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.274646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969140; longitude = -130.044605; captureRadius = 10; duration = 100; initialDepth = 1441.371209; finalDepth = 1440.274646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1440.274646 # Seafloor depth:-1480.274646 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.895453 meters # Minimum depth: 1481.371209 meters looking forward 0.000000 meters along route # Maximum depth: 1481.371209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.371209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970053; longitude = -130.044992; captureRadius = 10; duration = 100; initialDepth = 1442.806335; finalDepth = 1441.371209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1441.371209 # Seafloor depth:-1481.371209 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 92 # Segment length 100.895453 meters # Minimum depth: 1482.806335 meters looking forward 0.000000 meters along route # Maximum depth: 1482.806335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.806335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970986; longitude = -130.045387; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1443.159160; finalDepth = 1442.806335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.806335 # Seafloor depth:-1482.806335 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 100.895453 meters # Minimum depth: 1483.159160 meters looking forward 0.000000 meters along route # Maximum depth: 1483.159160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.159160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971465; longitude = -130.045572; captureRadius = 10; duration = 100; initialDepth = 1443.613147; finalDepth = 1443.159160; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1443.15916 # Seafloor depth:-1483.159160 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 100.895453 meters # Minimum depth: 1483.613147 meters looking forward 0.000000 meters along route # Maximum depth: 1483.613147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.613147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972466; longitude = -130.045959; captureRadius = 10; duration = 100; initialDepth = 1444.976178; finalDepth = 1443.613147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1443.613147 # Seafloor depth:-1483.613147 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 100.895453 meters # Minimum depth: 1484.976178 meters looking forward 0.000000 meters along route # Maximum depth: 1484.976178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.976178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973467; longitude = -130.046346; captureRadius = 10; duration = 100; initialDepth = 1447.675078; finalDepth = 1444.976178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1444.976178 # Seafloor depth:-1484.976178 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 100.895453 meters # Minimum depth: 1487.675078 meters looking forward 0.000000 meters along route # Maximum depth: 1487.675078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.675078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974468; longitude = -130.046733; captureRadius = 10; duration = 100; initialDepth = 1447.679504; finalDepth = 1447.675078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1447.675078 # Seafloor depth:-1487.675078 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 91 # Segment length 100.895453 meters # Minimum depth: 1487.679504 meters looking forward 0.000000 meters along route # Maximum depth: 1487.679504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.679504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975380; longitude = -130.047085; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1444.856961; finalDepth = 1447.679504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1447.679504 # Seafloor depth:-1487.679504 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.895453 meters # Minimum depth: 1484.856961 meters looking forward 0.000000 meters along route # Maximum depth: 1484.856961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.856961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976067; longitude = -130.046990; captureRadius = 10; duration = 100; initialDepth = 1453.681117; finalDepth = 1444.856961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1444.856961 # Seafloor depth:-1484.856961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.895453 meters # Minimum depth: 1493.681117 meters looking forward 0.000000 meters along route # Maximum depth: 1493.681117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.681117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977003; longitude = -130.046862; captureRadius = 10; duration = 100; initialDepth = 1456.402478; finalDepth = 1453.681117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1453.681117 # Seafloor depth:-1493.681117 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.895453 meters # Minimum depth: 1496.402478 meters looking forward 0.000000 meters along route # Maximum depth: 1496.402478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.402478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977940; longitude = -130.046733; captureRadius = 10; duration = 100; initialDepth = 1455.893162; finalDepth = 1456.402478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.402478 # Seafloor depth:-1496.402478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.895453 meters # Minimum depth: 1495.893162 meters looking forward 0.000000 meters along route # Maximum depth: 1495.893162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.893162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978876; longitude = -130.046604; captureRadius = 10; duration = 100; initialDepth = 1456.233784; finalDepth = 1455.893162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.893162 # Seafloor depth:-1495.893162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.895453 meters # Minimum depth: 1496.233784 meters looking forward 0.000000 meters along route # Maximum depth: 1496.233784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.233784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979813; longitude = -130.046475; captureRadius = 10; duration = 100; initialDepth = 1461.015747; finalDepth = 1456.233784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.233784 # Seafloor depth:-1496.233784 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 90 # Segment length 100.895453 meters # Minimum depth: 1501.015747 meters looking forward 0.000000 meters along route # Maximum depth: 1501.015747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.015747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981154; longitude = -130.046290; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1461.364728; finalDepth = 1461.015747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.015747 # Seafloor depth:-1501.015747 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.895453 meters # Minimum depth: 1501.364728 meters looking forward 0.000000 meters along route # Maximum depth: 1501.364728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.364728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981179; longitude = -130.046281; captureRadius = 10; duration = 100; initialDepth = 1462.639782; finalDepth = 1461.364728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.364728 # Seafloor depth:-1501.364728 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.895453 meters # Minimum depth: 1502.639782 meters looking forward 0.000000 meters along route # Maximum depth: 1502.639782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.639782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982078; longitude = -130.045959; captureRadius = 10; duration = 100; initialDepth = 1470.645750; finalDepth = 1462.639782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.639782 # Seafloor depth:-1502.639782 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.895453 meters # Minimum depth: 1510.645750 meters looking forward 0.000000 meters along route # Maximum depth: 1510.645750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.645750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982977; longitude = -130.045636; captureRadius = 10; duration = 100; initialDepth = 1473.711233; finalDepth = 1470.645750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.64575 # Seafloor depth:-1510.645750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.895453 meters # Minimum depth: 1513.711233 meters looking forward 0.000000 meters along route # Maximum depth: 1513.711233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.711233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983876; longitude = -130.045314; captureRadius = 10; duration = 100; initialDepth = 1475.668049; finalDepth = 1473.711233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.711233 # Seafloor depth:-1513.711233 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.895453 meters # Minimum depth: 1515.668049 meters looking forward 0.000000 meters along route # Maximum depth: 1515.668049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.668049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984775; longitude = -130.044992; captureRadius = 10; duration = 100; initialDepth = 1477.430756; finalDepth = 1475.668049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.668049 # Seafloor depth:-1515.668049 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 89 # Segment length 100.895453 meters # Minimum depth: 1517.430756 meters looking forward 0.000000 meters along route # Maximum depth: 1517.430756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.430756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985653; longitude = -130.044677; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1477.717189; finalDepth = 1477.430756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.430756 # Seafloor depth:-1517.430756 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.895453 meters # Minimum depth: 1517.717189 meters looking forward 0.000000 meters along route # Maximum depth: 1517.717189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.717189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985775; longitude = -130.044605; captureRadius = 10; duration = 100; initialDepth = 1478.127694; finalDepth = 1477.717189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.717189 # Seafloor depth:-1517.717189 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.895453 meters # Minimum depth: 1518.127694 meters looking forward 0.000000 meters along route # Maximum depth: 1518.127694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.127694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986644; longitude = -130.044089; captureRadius = 10; duration = 100; initialDepth = 1481.252701; finalDepth = 1478.127694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.127694 # Seafloor depth:-1518.127694 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.895453 meters # Minimum depth: 1521.252701 meters looking forward 0.000000 meters along route # Maximum depth: 1521.252701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.252701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987513; longitude = -130.043573; captureRadius = 10; duration = 100; initialDepth = 1480.422870; finalDepth = 1481.252701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.252701 # Seafloor depth:-1521.252701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.895453 meters # Minimum depth: 1520.422870 meters looking forward 0.000000 meters along route # Maximum depth: 1520.422870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.422870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988382; longitude = -130.043057; captureRadius = 10; duration = 100; initialDepth = 1481.464503; finalDepth = 1480.422870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.42287 # Seafloor depth:-1520.422870 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.895453 meters # Minimum depth: 1521.464503 meters looking forward 0.000000 meters along route # Maximum depth: 1521.464503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.464503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989251; longitude = -130.042541; captureRadius = 10; duration = 100; initialDepth = 1489.880707; finalDepth = 1481.464503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.464503 # Seafloor depth:-1521.464503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 88 # Segment length 100.895453 meters # Minimum depth: 1529.880707 meters looking forward 0.000000 meters along route # Maximum depth: 1529.880707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.880707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990182; longitude = -130.041989; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1492.585383; finalDepth = 1489.880707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.880707 # Seafloor depth:-1529.880707 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 100.895453 meters # Minimum depth: 1532.585383 meters looking forward 0.000000 meters along route # Maximum depth: 1532.585383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.585383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990675; longitude = -130.041187; captureRadius = 10; duration = 100; initialDepth = 1486.945554; finalDepth = 1492.585383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.585383 # Seafloor depth:-1532.585383 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 100.895453 meters # Minimum depth: 1526.945554 meters looking forward 0.000000 meters along route # Maximum depth: 1526.945554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.945554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991310; longitude = -130.040156; captureRadius = 10; duration = 100; initialDepth = 1492.295442; finalDepth = 1486.945554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.945554 # Seafloor depth:-1526.945554 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 100.895453 meters # Minimum depth: 1532.295442 meters looking forward 0.000000 meters along route # Maximum depth: 1532.295442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.295442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991945; longitude = -130.039124; captureRadius = 10; duration = 100; initialDepth = 1497.250617; finalDepth = 1492.295442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.295442 # Seafloor depth:-1532.295442 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 100.895453 meters # Minimum depth: 1537.250617 meters looking forward 0.000000 meters along route # Maximum depth: 1537.250617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.250617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992580; longitude = -130.038092; captureRadius = 10; duration = 100; initialDepth = 1499.136719; finalDepth = 1497.250617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.250617 # Seafloor depth:-1537.250617 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 87 # Segment length 100.895453 meters # Minimum depth: 1539.136719 meters looking forward 0.000000 meters along route # Maximum depth: 1539.136719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.136719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993212; longitude = -130.037065; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1499.115456; finalDepth = 1499.136719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.136719 # Seafloor depth:-1539.136719 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.895453 meters # Minimum depth: 1539.115456 meters looking forward 0.000000 meters along route # Maximum depth: 1539.115456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.115456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993257; longitude = -130.036867; captureRadius = 10; duration = 100; initialDepth = 1497.547610; finalDepth = 1499.115456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.115456 # Seafloor depth:-1539.115456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.895453 meters # Minimum depth: 1537.547610 meters looking forward 0.000000 meters along route # Maximum depth: 1537.547610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.547610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993549; longitude = -130.035578; captureRadius = 10; duration = 100; initialDepth = 1498.868256; finalDepth = 1497.547610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.54761 # Seafloor depth:-1537.547610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.895453 meters # Minimum depth: 1538.868256 meters looking forward 0.000000 meters along route # Maximum depth: 1538.868256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.868256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.993842; longitude = -130.034288; captureRadius = 10; duration = 100; initialDepth = 1496.905669; finalDepth = 1498.868256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.868256 # Seafloor depth:-1538.868256 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.895453 meters # Minimum depth: 1536.905669 meters looking forward 0.000000 meters along route # Maximum depth: 1536.905669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.905669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994134; longitude = -130.032999; captureRadius = 10; duration = 100; initialDepth = 1492.873291; finalDepth = 1496.905669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.905669 # Seafloor depth:-1536.905669 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 100.895453 meters # Minimum depth: 1532.873291 meters looking forward 0.000000 meters along route # Maximum depth: 1532.873291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.873291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.994426; longitude = -130.031710; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1486.612152; finalDepth = 1492.873291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.873291 # Seafloor depth:-1532.873291 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 85 # Segment length 100.895453 meters # Minimum depth: 1526.612152 meters looking forward 0.000000 meters along route # Maximum depth: 1526.612152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.612152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992927; longitude = -130.031861; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1484.481127; finalDepth = 1486.612152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.612152 # Seafloor depth:-1526.612152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.895453 meters # Minimum depth: 1524.481127 meters looking forward 0.000000 meters along route # Maximum depth: 1524.481127 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.481127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992805; longitude = -130.032354; captureRadius = 10; duration = 100; initialDepth = 1483.132530; finalDepth = 1484.481127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.481127 # Seafloor depth:-1524.481127 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.895453 meters # Minimum depth: 1523.132530 meters looking forward 0.000000 meters along route # Maximum depth: 1523.132530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.132530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992503; longitude = -130.033579; captureRadius = 10; duration = 100; initialDepth = 1488.710341; finalDepth = 1483.132530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.13253 # Seafloor depth:-1523.132530 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.895453 meters # Minimum depth: 1528.710341 meters looking forward 0.000000 meters along route # Maximum depth: 1528.710341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.710341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.992201; longitude = -130.034804; captureRadius = 10; duration = 100; initialDepth = 1468.988647; finalDepth = 1488.710341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.710341 # Seafloor depth:-1528.710341 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 84 # Segment length 100.895453 meters # Minimum depth: 1508.988647 meters looking forward 0.000000 meters along route # Maximum depth: 1508.988647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.988647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991892; longitude = -130.036054; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1467.296785; finalDepth = 1468.988647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.988647 # Seafloor depth:-1508.988647 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.895453 meters # Minimum depth: 1507.296785 meters looking forward 0.000000 meters along route # Maximum depth: 1507.296785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.296785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991784; longitude = -130.036223; captureRadius = 10; duration = 100; initialDepth = 1477.399917; finalDepth = 1467.296785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.296785 # Seafloor depth:-1507.296785 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.895453 meters # Minimum depth: 1517.399917 meters looking forward 0.000000 meters along route # Maximum depth: 1517.399917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.399917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991163; longitude = -130.037190; captureRadius = 10; duration = 100; initialDepth = 1474.501014; finalDepth = 1477.399917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.399917 # Seafloor depth:-1517.399917 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.895453 meters # Minimum depth: 1514.501014 meters looking forward 0.000000 meters along route # Maximum depth: 1514.501014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.501014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990541; longitude = -130.038157; captureRadius = 10; duration = 100; initialDepth = 1469.057305; finalDepth = 1474.501014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.501014 # Seafloor depth:-1514.501014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.895453 meters # Minimum depth: 1509.057305 meters looking forward 0.000000 meters along route # Maximum depth: 1509.057305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.057305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989920; longitude = -130.039124; captureRadius = 10; duration = 100; initialDepth = 1469.858185; finalDepth = 1469.057305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.057305 # Seafloor depth:-1509.057305 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 83 # Segment length 100.895453 meters # Minimum depth: 1509.858185 meters looking forward 0.000000 meters along route # Maximum depth: 1509.858185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.858185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989282; longitude = -130.040118; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1469.145854; finalDepth = 1469.858185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.858185 # Seafloor depth:-1509.858185 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.895453 meters # Minimum depth: 1509.145854 meters looking forward 0.000000 meters along route # Maximum depth: 1509.145854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.145854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988565; longitude = -130.040543; captureRadius = 10; duration = 100; initialDepth = 1466.682291; finalDepth = 1469.145854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.145854 # Seafloor depth:-1509.145854 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.895453 meters # Minimum depth: 1506.682291 meters looking forward 0.000000 meters along route # Maximum depth: 1506.682291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.682291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987694; longitude = -130.041058; captureRadius = 10; duration = 100; initialDepth = 1473.309371; finalDepth = 1466.682291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.682291 # Seafloor depth:-1506.682291 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.895453 meters # Minimum depth: 1513.309371 meters looking forward 0.000000 meters along route # Maximum depth: 1513.309371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.309371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986822; longitude = -130.041574; captureRadius = 10; duration = 100; initialDepth = 1475.708618; finalDepth = 1473.309371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.309371 # Seafloor depth:-1513.309371 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.895453 meters # Minimum depth: 1515.708618 meters looking forward 0.000000 meters along route # Maximum depth: 1515.708618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.708618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985951; longitude = -130.042090; captureRadius = 10; duration = 100; initialDepth = 1474.158813; finalDepth = 1475.708618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.708618 # Seafloor depth:-1515.708618 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 82 # Segment length 100.895453 meters # Minimum depth: 1514.158813 meters looking forward 0.000000 meters along route # Maximum depth: 1514.158813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.158813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985068; longitude = -130.042613; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1472.703741; finalDepth = 1474.158813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.158813 # Seafloor depth:-1514.158813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.895453 meters # Minimum depth: 1512.703741 meters looking forward 0.000000 meters along route # Maximum depth: 1512.703741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.703741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984537; longitude = -130.042799; captureRadius = 10; duration = 100; initialDepth = 1468.779245; finalDepth = 1472.703741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.703741 # Seafloor depth:-1512.703741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.895453 meters # Minimum depth: 1508.779245 meters looking forward 0.000000 meters along route # Maximum depth: 1508.779245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.779245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983618; longitude = -130.043122; captureRadius = 10; duration = 100; initialDepth = 1464.605320; finalDepth = 1468.779245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.779245 # Seafloor depth:-1508.779245 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.895453 meters # Minimum depth: 1504.605320 meters looking forward 0.000000 meters along route # Maximum depth: 1504.605320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.605320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982699; longitude = -130.043444; captureRadius = 10; duration = 100; initialDepth = 1460.213707; finalDepth = 1464.605320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.60532 # Seafloor depth:-1504.605320 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.895453 meters # Minimum depth: 1500.213707 meters looking forward 0.000000 meters along route # Maximum depth: 1500.213707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.213707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981781; longitude = -130.043767; captureRadius = 10; duration = 100; initialDepth = 1458.233032; finalDepth = 1460.213707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.213707 # Seafloor depth:-1500.213707 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 81 # Segment length 100.895453 meters # Minimum depth: 1498.233032 meters looking forward 0.000000 meters along route # Maximum depth: 1498.233032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.233032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980779; longitude = -130.044118; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1459.072244; finalDepth = 1458.233032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.233032 # Seafloor depth:-1498.233032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.895453 meters # Minimum depth: 1499.072244 meters looking forward 0.000000 meters along route # Maximum depth: 1499.072244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.072244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980076; longitude = -130.044218; captureRadius = 10; duration = 100; initialDepth = 1458.554826; finalDepth = 1459.072244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.072244 # Seafloor depth:-1499.072244 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.895453 meters # Minimum depth: 1498.554826 meters looking forward 0.000000 meters along route # Maximum depth: 1498.554826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.554826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979169; longitude = -130.044347; captureRadius = 10; duration = 100; initialDepth = 1458.100860; finalDepth = 1458.554826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.554826 # Seafloor depth:-1498.554826 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.895453 meters # Minimum depth: 1498.100860 meters looking forward 0.000000 meters along route # Maximum depth: 1498.100860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.100860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978262; longitude = -130.044476; captureRadius = 10; duration = 100; initialDepth = 1457.115476; finalDepth = 1458.100860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.10086 # Seafloor depth:-1498.100860 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.895453 meters # Minimum depth: 1497.115476 meters looking forward 0.000000 meters along route # Maximum depth: 1497.115476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.115476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977355; longitude = -130.044605; captureRadius = 10; duration = 100; initialDepth = 1449.326477; finalDepth = 1457.115476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1457.115476 # Seafloor depth:-1497.115476 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.895453 meters # Minimum depth: 1489.326477 meters looking forward 0.000000 meters along route # Maximum depth: 1489.326477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.326477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976448; longitude = -130.044734; captureRadius = 10; duration = 100; initialDepth = 1442.886841; finalDepth = 1449.326477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.326477 # Seafloor depth:-1489.326477 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 80 # Segment length 100.895453 meters # Minimum depth: 1482.886841 meters looking forward 0.000000 meters along route # Maximum depth: 1482.886841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.886841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975335; longitude = -130.044892; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1442.413385; finalDepth = 1442.886841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.886841 # Seafloor depth:-1482.886841 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 100.895453 meters # Minimum depth: 1482.413385 meters looking forward 0.000000 meters along route # Maximum depth: 1482.413385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.413385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975102; longitude = -130.044798; captureRadius = 10; duration = 100; initialDepth = 1425.047784; finalDepth = 1442.413385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.413385 # Seafloor depth:-1482.413385 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 100.895453 meters # Minimum depth: 1465.047784 meters looking forward 0.000000 meters along route # Maximum depth: 1465.047784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.047784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974142; longitude = -130.044411; captureRadius = 10; duration = 100; initialDepth = 1418.775610; finalDepth = 1425.047784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1425.047784 # Seafloor depth:-1465.047784 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 100.895453 meters # Minimum depth: 1458.775610 meters looking forward 0.000000 meters along route # Maximum depth: 1458.775610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.775610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973181; longitude = -130.044024; captureRadius = 10; duration = 100; initialDepth = 1420.676630; finalDepth = 1418.775610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1418.77561 # Seafloor depth:-1458.775610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 100.895453 meters # Minimum depth: 1460.676630 meters looking forward 0.000000 meters along route # Maximum depth: 1460.676630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.676630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972221; longitude = -130.043638; captureRadius = 10; duration = 100; initialDepth = 1429.649506; finalDepth = 1420.676630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1420.67663 # Seafloor depth:-1460.676630 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 79 # Segment length 100.895453 meters # Minimum depth: 1469.649506 meters looking forward 0.000000 meters along route # Maximum depth: 1469.649506 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.649506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971331; longitude = -130.043279; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1435.525006; finalDepth = 1429.649506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1429.649506 # Seafloor depth:-1469.649506 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1475.525006 meters looking forward 0.000000 meters along route # Maximum depth: 1475.525006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.525006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970960; longitude = -130.043122; captureRadius = 10; duration = 100; initialDepth = 1441.279939; finalDepth = 1435.525006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1435.525006 # Seafloor depth:-1475.525006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1481.279939 meters looking forward 0.000000 meters along route # Maximum depth: 1481.279939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.279939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970047; longitude = -130.042735; captureRadius = 10; duration = 100; initialDepth = 1434.479746; finalDepth = 1441.279939; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1441.279939 # Seafloor depth:-1481.279939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1474.479746 meters looking forward 0.000000 meters along route # Maximum depth: 1474.479746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1434.479746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969135; longitude = -130.042348; captureRadius = 10; duration = 100; initialDepth = 1424.569574; finalDepth = 1434.479746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1434.479746 # Seafloor depth:-1474.479746 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1464.569574 meters looking forward 0.000000 meters along route # Maximum depth: 1464.569574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.569574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968222; longitude = -130.041961; captureRadius = 10; duration = 100; initialDepth = 1417.218431; finalDepth = 1424.569574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1424.569574 # Seafloor depth:-1464.569574 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1457.218431 meters looking forward 0.000000 meters along route # Maximum depth: 1457.218431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.218431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967310; longitude = -130.041574; captureRadius = 10; duration = 100; initialDepth = 1416.086358; finalDepth = 1417.218431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1417.218431 # Seafloor depth:-1457.218431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1456.086358 meters looking forward 0.000000 meters along route # Maximum depth: 1456.086358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.086358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966397; longitude = -130.041187; captureRadius = 10; duration = 100; initialDepth = 1416.107248; finalDepth = 1416.086358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1416.086358 # Seafloor depth:-1456.086358 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1456.107248 meters looking forward 0.000000 meters along route # Maximum depth: 1456.107248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1416.107248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965484; longitude = -130.040801; captureRadius = 10; duration = 100; initialDepth = 1412.745279; finalDepth = 1416.107248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1416.107248 # Seafloor depth:-1456.107248 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1452.745279 meters looking forward 0.000000 meters along route # Maximum depth: 1452.745279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.745279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964572; longitude = -130.040414; captureRadius = 10; duration = 100; initialDepth = 1406.013195; finalDepth = 1412.745279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1412.745279 # Seafloor depth:-1452.745279 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1446.013195 meters looking forward 0.000000 meters along route # Maximum depth: 1446.013195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.013195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963659; longitude = -130.040027; captureRadius = 10; duration = 100; initialDepth = 1400.958584; finalDepth = 1406.013195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1406.013195 # Seafloor depth:-1446.013195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1440.958584 meters looking forward 0.000000 meters along route # Maximum depth: 1440.958584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.958584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962746; longitude = -130.039640; captureRadius = 10; duration = 100; initialDepth = 1396.589810; finalDepth = 1400.958584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1400.958584 # Seafloor depth:-1440.958584 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1436.589810 meters looking forward 0.000000 meters along route # Maximum depth: 1436.589810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.589810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961834; longitude = -130.039253; captureRadius = 10; duration = 100; initialDepth = 1393.092123; finalDepth = 1396.589810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1396.58981 # Seafloor depth:-1436.589810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1433.092123 meters looking forward 0.000000 meters along route # Maximum depth: 1433.092123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.092123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960921; longitude = -130.038866; captureRadius = 10; duration = 100; initialDepth = 1395.193522; finalDepth = 1393.092123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1393.092123 # Seafloor depth:-1433.092123 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1435.193522 meters looking forward 0.000000 meters along route # Maximum depth: 1435.193522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.193522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960008; longitude = -130.038479; captureRadius = 10; duration = 100; initialDepth = 1392.828888; finalDepth = 1395.193522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1395.193522 # Seafloor depth:-1435.193522 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1432.828888 meters looking forward 0.000000 meters along route # Maximum depth: 1432.828888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.828888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959096; longitude = -130.038092; captureRadius = 10; duration = 100; initialDepth = 1391.788237; finalDepth = 1392.828888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1392.828888 # Seafloor depth:-1432.828888 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1431.788237 meters looking forward 0.000000 meters along route # Maximum depth: 1431.788237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.788237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958183; longitude = -130.037706; captureRadius = 10; duration = 100; initialDepth = 1388.522209; finalDepth = 1391.788237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1391.788237 # Seafloor depth:-1431.788237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1428.522209 meters looking forward 0.000000 meters along route # Maximum depth: 1428.522209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.522209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957271; longitude = -130.037319; captureRadius = 10; duration = 100; initialDepth = 1391.257423; finalDepth = 1388.522209; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1388.522209 # Seafloor depth:-1428.522209 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1431.257423 meters looking forward 0.000000 meters along route # Maximum depth: 1431.257423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.257423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956358; longitude = -130.036932; captureRadius = 10; duration = 100; initialDepth = 1393.551795; finalDepth = 1391.257423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1391.257423 # Seafloor depth:-1431.257423 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1433.551795 meters looking forward 0.000000 meters along route # Maximum depth: 1433.551795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.551795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955445; longitude = -130.036545; captureRadius = 10; duration = 100; initialDepth = 1392.217641; finalDepth = 1393.551795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1393.551795 # Seafloor depth:-1433.551795 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1432.217641 meters looking forward 0.000000 meters along route # Maximum depth: 1432.217641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.217641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954533; longitude = -130.036158; captureRadius = 10; duration = 100; initialDepth = 1391.035776; finalDepth = 1392.217641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1392.217641 # Seafloor depth:-1432.217641 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1431.035776 meters looking forward 0.000000 meters along route # Maximum depth: 1431.035776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.035776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953620; longitude = -130.035771; captureRadius = 10; duration = 100; initialDepth = 1386.285015; finalDepth = 1391.035776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1391.035776 # Seafloor depth:-1431.035776 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1426.285015 meters looking forward 0.000000 meters along route # Maximum depth: 1426.285015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.285015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952707; longitude = -130.035384; captureRadius = 10; duration = 100; initialDepth = 1381.448641; finalDepth = 1386.285015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1386.285015 # Seafloor depth:-1426.285015 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1421.448641 meters looking forward 0.000000 meters along route # Maximum depth: 1421.448641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.448641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951795; longitude = -130.034997; captureRadius = 10; duration = 100; initialDepth = 1377.993227; finalDepth = 1381.448641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1381.448641 # Seafloor depth:-1421.448641 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 100.895453 meters # Minimum depth: 1417.993227 meters looking forward 0.000000 meters along route # Maximum depth: 1417.993227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.993227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950882; longitude = -130.034611; captureRadius = 10; duration = 100; initialDepth = 1377.382904; finalDepth = 1377.993227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.993227 # Seafloor depth:-1417.993227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 78 # Segment length 100.895453 meters # Minimum depth: 1417.382904 meters looking forward 0.000000 meters along route # Maximum depth: 1417.382904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.382904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949975; longitude = -130.034226; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1377.933620; finalDepth = 1377.382904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.382904 # Seafloor depth:-1417.382904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1417.933620 meters looking forward 0.000000 meters along route # Maximum depth: 1417.933620 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.933620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949596; longitude = -130.034008; captureRadius = 10; duration = 100; initialDepth = 1376.448782; finalDepth = 1377.933620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.93362 # Seafloor depth:-1417.933620 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1416.448782 meters looking forward 0.000000 meters along route # Maximum depth: 1416.448782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.448782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948739; longitude = -130.033514; captureRadius = 10; duration = 100; initialDepth = 1371.533037; finalDepth = 1376.448782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1376.448782 # Seafloor depth:-1416.448782 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1411.533037 meters looking forward 0.000000 meters along route # Maximum depth: 1411.533037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.533037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947887; longitude = -130.033024; captureRadius = 10; duration = 100; initialDepth = 1370.457324; finalDepth = 1371.533037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1371.533037 # Seafloor depth:-1411.533037 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1410.457324 meters looking forward 0.000000 meters along route # Maximum depth: 1410.457324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.457324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947032; longitude = -130.032532; captureRadius = 10; duration = 100; initialDepth = 1368.829461; finalDepth = 1370.457324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1370.457324 # Seafloor depth:-1410.457324 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1408.829461 meters looking forward 0.000000 meters along route # Maximum depth: 1408.829461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.829461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946163; longitude = -130.032031; captureRadius = 10; duration = 100; initialDepth = 1370.601503; finalDepth = 1368.829461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1368.829461 # Seafloor depth:-1408.829461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1410.601503 meters looking forward 0.000000 meters along route # Maximum depth: 1410.601503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.601503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945323; longitude = -130.031548; captureRadius = 10; duration = 100; initialDepth = 1371.066353; finalDepth = 1370.601503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1370.601503 # Seafloor depth:-1410.601503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1411.066353 meters looking forward 0.000000 meters along route # Maximum depth: 1411.066353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.066353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944468; longitude = -130.031056; captureRadius = 10; duration = 100; initialDepth = 1368.514655; finalDepth = 1371.066353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1371.066353 # Seafloor depth:-1411.066353 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1408.514655 meters looking forward 0.000000 meters along route # Maximum depth: 1408.514655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.514655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943613; longitude = -130.030564; captureRadius = 10; duration = 100; initialDepth = 1367.575379; finalDepth = 1368.514655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1368.514655 # Seafloor depth:-1408.514655 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1407.575379 meters looking forward 0.000000 meters along route # Maximum depth: 1407.575379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.575379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942759; longitude = -130.030072; captureRadius = 10; duration = 100; initialDepth = 1365.706923; finalDepth = 1367.575379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1367.575379 # Seafloor depth:-1407.575379 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1405.706923 meters looking forward 0.000000 meters along route # Maximum depth: 1405.706923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.706923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941904; longitude = -130.029580; captureRadius = 10; duration = 100; initialDepth = 1364.560651; finalDepth = 1365.706923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1365.706923 # Seafloor depth:-1405.706923 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1404.560651 meters looking forward 0.000000 meters along route # Maximum depth: 1404.560651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.560651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941049; longitude = -130.029088; captureRadius = 10; duration = 100; initialDepth = 1364.382754; finalDepth = 1364.560651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1364.560651 # Seafloor depth:-1404.560651 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1404.382754 meters looking forward 0.000000 meters along route # Maximum depth: 1404.382754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.382754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940194; longitude = -130.028596; captureRadius = 10; duration = 100; initialDepth = 1365.273150; finalDepth = 1364.382754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1364.382754 # Seafloor depth:-1404.382754 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1405.273150 meters looking forward 0.000000 meters along route # Maximum depth: 1405.273150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.273150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939330; longitude = -130.028098; captureRadius = 10; duration = 100; initialDepth = 1363.904539; finalDepth = 1365.273150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1365.27315 # Seafloor depth:-1405.273150 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.895453 meters # Minimum depth: 1403.904539 meters looking forward 0.000000 meters along route # Maximum depth: 1403.904539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.904539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938485; longitude = -130.027612; captureRadius = 10; duration = 100; initialDepth = 1362.641571; finalDepth = 1363.904539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1363.904539 # Seafloor depth:-1403.904539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 77 # Segment length 100.895453 meters # Minimum depth: 1402.641571 meters looking forward 0.000000 meters along route # Maximum depth: 1402.641571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.641571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937648; longitude = -130.027130; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1362.471582; finalDepth = 1362.641571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.641571 # Seafloor depth:-1402.641571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1402.471582 meters looking forward 0.000000 meters along route # Maximum depth: 1402.471582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.471582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937090; longitude = -130.026708; captureRadius = 10; duration = 100; initialDepth = 1362.193403; finalDepth = 1362.471582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.471582 # Seafloor depth:-1402.471582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1402.193403 meters looking forward 0.000000 meters along route # Maximum depth: 1402.193403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.193403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936281; longitude = -130.026094; captureRadius = 10; duration = 100; initialDepth = 1364.172900; finalDepth = 1362.193403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.193403 # Seafloor depth:-1402.193403 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1404.172900 meters looking forward 0.000000 meters along route # Maximum depth: 1404.172900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.172900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935471; longitude = -130.025480; captureRadius = 10; duration = 100; initialDepth = 1369.861872; finalDepth = 1364.172900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1364.1729 # Seafloor depth:-1404.172900 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1409.861872 meters looking forward 0.000000 meters along route # Maximum depth: 1409.861872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.861872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934661; longitude = -130.024867; captureRadius = 10; duration = 100; initialDepth = 1369.386698; finalDepth = 1369.861872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1369.861872 # Seafloor depth:-1409.861872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1409.386698 meters looking forward 0.000000 meters along route # Maximum depth: 1409.386698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.386698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933852; longitude = -130.024253; captureRadius = 10; duration = 100; initialDepth = 1370.793407; finalDepth = 1369.386698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1369.386698 # Seafloor depth:-1409.386698 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1410.793407 meters looking forward 0.000000 meters along route # Maximum depth: 1410.793407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.793407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933042; longitude = -130.023640; captureRadius = 10; duration = 100; initialDepth = 1372.844566; finalDepth = 1370.793407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1370.793407 # Seafloor depth:-1410.793407 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1412.844566 meters looking forward 0.000000 meters along route # Maximum depth: 1412.844566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.844566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932232; longitude = -130.023026; captureRadius = 10; duration = 100; initialDepth = 1374.713336; finalDepth = 1372.844566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.844566 # Seafloor depth:-1412.844566 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1414.713336 meters looking forward 0.000000 meters along route # Maximum depth: 1414.713336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.713336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931422; longitude = -130.022413; captureRadius = 10; duration = 100; initialDepth = 1376.419446; finalDepth = 1374.713336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1374.713336 # Seafloor depth:-1414.713336 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1416.419446 meters looking forward 0.000000 meters along route # Maximum depth: 1416.419446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.419446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930613; longitude = -130.021799; captureRadius = 10; duration = 100; initialDepth = 1378.187793; finalDepth = 1376.419446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1376.419446 # Seafloor depth:-1416.419446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1418.187793 meters looking forward 0.000000 meters along route # Maximum depth: 1418.187793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.187793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929803; longitude = -130.021186; captureRadius = 10; duration = 100; initialDepth = 1382.865973; finalDepth = 1378.187793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1378.187793 # Seafloor depth:-1418.187793 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1422.865973 meters looking forward 0.000000 meters along route # Maximum depth: 1422.865973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.865973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928993; longitude = -130.020572; captureRadius = 10; duration = 100; initialDepth = 1385.529818; finalDepth = 1382.865973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1382.865973 # Seafloor depth:-1422.865973 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.895453 meters # Minimum depth: 1425.529818 meters looking forward 0.000000 meters along route # Maximum depth: 1425.529818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.529818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928183; longitude = -130.019959; captureRadius = 10; duration = 100; initialDepth = 1386.788177; finalDepth = 1385.529818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1385.529818 # Seafloor depth:-1425.529818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 76 # Segment length 100.895453 meters # Minimum depth: 1426.788177 meters looking forward 0.000000 meters along route # Maximum depth: 1426.788177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.788177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927375; longitude = -130.019346; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1387.081589; finalDepth = 1386.788177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1386.788177 # Seafloor depth:-1426.788177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1427.081589 meters looking forward 0.000000 meters along route # Maximum depth: 1427.081589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.081589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927329; longitude = -130.019300; captureRadius = 10; duration = 100; initialDepth = 1397.064090; finalDepth = 1387.081589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1387.081589 # Seafloor depth:-1427.081589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1437.064090 meters looking forward 0.000000 meters along route # Maximum depth: 1437.064090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.064090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926564; longitude = -130.018531; captureRadius = 10; duration = 100; initialDepth = 1407.512876; finalDepth = 1397.064090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1397.06409 # Seafloor depth:-1437.064090 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1447.512876 meters looking forward 0.000000 meters along route # Maximum depth: 1447.512876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.512876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925818; longitude = -130.017782; captureRadius = 10; duration = 100; initialDepth = 1412.780562; finalDepth = 1407.512876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1407.512876 # Seafloor depth:-1447.512876 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1452.780562 meters looking forward 0.000000 meters along route # Maximum depth: 1452.780562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.780562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925080; longitude = -130.017039; captureRadius = 10; duration = 100; initialDepth = 1417.574485; finalDepth = 1412.780562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1412.780562 # Seafloor depth:-1452.780562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1457.574485 meters looking forward 0.000000 meters along route # Maximum depth: 1457.574485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.574485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924315; longitude = -130.016271; captureRadius = 10; duration = 100; initialDepth = 1423.063505; finalDepth = 1417.574485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1417.574485 # Seafloor depth:-1457.574485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1463.063505 meters looking forward 0.000000 meters along route # Maximum depth: 1463.063505 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.063505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923572; longitude = -130.015525; captureRadius = 10; duration = 100; initialDepth = 1431.267083; finalDepth = 1423.063505; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1423.063505 # Seafloor depth:-1463.063505 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1471.267083 meters looking forward 0.000000 meters along route # Maximum depth: 1471.267083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.267083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922830; longitude = -130.014779; captureRadius = 10; duration = 100; initialDepth = 1438.284451; finalDepth = 1431.267083; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1431.267083 # Seafloor depth:-1471.267083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1478.284451 meters looking forward 0.000000 meters along route # Maximum depth: 1478.284451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.284451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922066; longitude = -130.014011; captureRadius = 10; duration = 100; initialDepth = 1444.806754; finalDepth = 1438.284451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1438.284451 # Seafloor depth:-1478.284451 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1484.806754 meters looking forward 0.000000 meters along route # Maximum depth: 1484.806754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.806754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921301; longitude = -130.013243; captureRadius = 10; duration = 100; initialDepth = 1451.809872; finalDepth = 1444.806754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1444.806754 # Seafloor depth:-1484.806754 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1491.809872 meters looking forward 0.000000 meters along route # Maximum depth: 1491.809872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.809872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920536; longitude = -130.012474; captureRadius = 10; duration = 100; initialDepth = 1459.842249; finalDepth = 1451.809872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.809872 # Seafloor depth:-1491.809872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1499.842249 meters looking forward 0.000000 meters along route # Maximum depth: 1499.842249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.842249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919771; longitude = -130.011706; captureRadius = 10; duration = 100; initialDepth = 1467.778457; finalDepth = 1459.842249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.842249 # Seafloor depth:-1499.842249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1507.778457 meters looking forward 0.000000 meters along route # Maximum depth: 1507.778457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.778457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919007; longitude = -130.010937; captureRadius = 10; duration = 100; initialDepth = 1474.887705; finalDepth = 1467.778457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.778457 # Seafloor depth:-1507.778457 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1514.887705 meters looking forward 0.000000 meters along route # Maximum depth: 1514.887705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.887705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918242; longitude = -130.010169; captureRadius = 10; duration = 100; initialDepth = 1474.377135; finalDepth = 1474.887705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.887705 # Seafloor depth:-1514.887705 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1514.377135 meters looking forward 0.000000 meters along route # Maximum depth: 1514.377135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.377135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917476; longitude = -130.009399; captureRadius = 10; duration = 100; initialDepth = 1484.807577; finalDepth = 1474.377135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.377135 # Seafloor depth:-1514.377135 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.895453 meters # Minimum depth: 1524.807577 meters looking forward 0.000000 meters along route # Maximum depth: 1524.807577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.807577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916706; longitude = -130.008626; captureRadius = 10; duration = 100; initialDepth = 1487.189240; finalDepth = 1484.807577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.807577 # Seafloor depth:-1524.807577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 100.895453 meters # Minimum depth: 1527.189240 meters looking forward 0.000000 meters along route # Maximum depth: 1527.189240 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.189240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915947; longitude = -130.007863; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1491.164032; finalDepth = 1487.189240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.18924 # Seafloor depth:-1527.189240 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.895453 meters # Minimum depth: 1531.164032 meters looking forward 0.000000 meters along route # Maximum depth: 1531.164032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.164032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916847; longitude = -130.007877; captureRadius = 10; duration = 100; initialDepth = 1488.017799; finalDepth = 1491.164032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.164032 # Seafloor depth:-1531.164032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 100.895453 meters # Minimum depth: 1528.017799 meters looking forward 0.000000 meters along route # Maximum depth: 1528.017799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.017799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917792; longitude = -130.007892; captureRadius = 10; duration = 100; initialDepth = 1486.127625; finalDepth = 1488.017799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.017799 # Seafloor depth:-1528.017799 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 74 # Segment length 100.895453 meters # Minimum depth: 1526.127625 meters looking forward 0.000000 meters along route # Maximum depth: 1526.127625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.127625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918706; longitude = -130.007906; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1480.738565; finalDepth = 1486.127625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.127625 # Seafloor depth:-1526.127625 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1520.738565 meters looking forward 0.000000 meters along route # Maximum depth: 1520.738565 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.738565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919052; longitude = -130.008259; captureRadius = 10; duration = 100; initialDepth = 1477.082641; finalDepth = 1480.738565; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.738565 # Seafloor depth:-1520.738565 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1517.082641 meters looking forward 0.000000 meters along route # Maximum depth: 1517.082641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.082641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919790; longitude = -130.009012; captureRadius = 10; duration = 100; initialDepth = 1471.375563; finalDepth = 1477.082641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.082641 # Seafloor depth:-1517.082641 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1511.375563 meters looking forward 0.000000 meters along route # Maximum depth: 1511.375563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.375563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920547; longitude = -130.009786; captureRadius = 10; duration = 100; initialDepth = 1464.696135; finalDepth = 1471.375563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.375563 # Seafloor depth:-1511.375563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1504.696135 meters looking forward 0.000000 meters along route # Maximum depth: 1504.696135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.696135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921305; longitude = -130.010560; captureRadius = 10; duration = 100; initialDepth = 1459.509418; finalDepth = 1464.696135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.696135 # Seafloor depth:-1504.696135 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1499.509418 meters looking forward 0.000000 meters along route # Maximum depth: 1499.509418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.509418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922066; longitude = -130.011337; captureRadius = 10; duration = 100; initialDepth = 1452.298086; finalDepth = 1459.509418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.509418 # Seafloor depth:-1499.509418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1492.298086 meters looking forward 0.000000 meters along route # Maximum depth: 1492.298086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.298086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922830; longitude = -130.012118; captureRadius = 10; duration = 100; initialDepth = 1442.840439; finalDepth = 1452.298086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.298086 # Seafloor depth:-1492.298086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1482.840439 meters looking forward 0.000000 meters along route # Maximum depth: 1482.840439 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.840439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923595; longitude = -130.012899; captureRadius = 10; duration = 100; initialDepth = 1435.305233; finalDepth = 1442.840439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.840439 # Seafloor depth:-1482.840439 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1475.305233 meters looking forward 0.000000 meters along route # Maximum depth: 1475.305233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.305233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924360; longitude = -130.013680; captureRadius = 10; duration = 100; initialDepth = 1424.199225; finalDepth = 1435.305233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1435.305233 # Seafloor depth:-1475.305233 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1464.199225 meters looking forward 0.000000 meters along route # Maximum depth: 1464.199225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.199225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925093; longitude = -130.014429; captureRadius = 10; duration = 100; initialDepth = 1417.598699; finalDepth = 1424.199225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1424.199225 # Seafloor depth:-1464.199225 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1457.598699 meters looking forward 0.000000 meters along route # Maximum depth: 1457.598699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.598699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925851; longitude = -130.015202; captureRadius = 10; duration = 100; initialDepth = 1409.102111; finalDepth = 1417.598699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1417.598699 # Seafloor depth:-1457.598699 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1449.102111 meters looking forward 0.000000 meters along route # Maximum depth: 1449.102111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.102111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926609; longitude = -130.015977; captureRadius = 10; duration = 100; initialDepth = 1402.678919; finalDepth = 1409.102111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1409.102111 # Seafloor depth:-1449.102111 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 100.895453 meters # Minimum depth: 1442.678919 meters looking forward 0.000000 meters along route # Maximum depth: 1442.678919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1402.678919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927374; longitude = -130.016757; captureRadius = 10; duration = 100; initialDepth = 1395.796539; finalDepth = 1402.678919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1402.678919 # Seafloor depth:-1442.678919 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 73 # Segment length 100.895453 meters # Minimum depth: 1435.796539 meters looking forward 0.000000 meters along route # Maximum depth: 1435.796539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.796539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928140; longitude = -130.017540; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1393.377748; finalDepth = 1395.796539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1395.796539 # Seafloor depth:-1435.796539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1433.377748 meters looking forward 0.000000 meters along route # Maximum depth: 1433.377748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.377748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928549; longitude = -130.017846; captureRadius = 10; duration = 100; initialDepth = 1386.609625; finalDepth = 1393.377748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1393.377748 # Seafloor depth:-1433.377748 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1426.609625 meters looking forward 0.000000 meters along route # Maximum depth: 1426.609625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.609625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929353; longitude = -130.018448; captureRadius = 10; duration = 100; initialDepth = 1382.437606; finalDepth = 1386.609625; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1386.609625 # Seafloor depth:-1426.609625 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1422.437606 meters looking forward 0.000000 meters along route # Maximum depth: 1422.437606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.437606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930163; longitude = -130.019055; captureRadius = 10; duration = 100; initialDepth = 1382.167116; finalDepth = 1382.437606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1382.437606 # Seafloor depth:-1422.437606 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1422.167116 meters looking forward 0.000000 meters along route # Maximum depth: 1422.167116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.167116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930973; longitude = -130.019661; captureRadius = 10; duration = 100; initialDepth = 1380.262203; finalDepth = 1382.167116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1382.167116 # Seafloor depth:-1422.167116 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1420.262203 meters looking forward 0.000000 meters along route # Maximum depth: 1420.262203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.262203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931782; longitude = -130.020267; captureRadius = 10; duration = 100; initialDepth = 1377.347431; finalDepth = 1380.262203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1380.262203 # Seafloor depth:-1420.262203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1417.347431 meters looking forward 0.000000 meters along route # Maximum depth: 1417.347431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.347431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932596; longitude = -130.020877; captureRadius = 10; duration = 100; initialDepth = 1373.455173; finalDepth = 1377.347431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.347431 # Seafloor depth:-1417.347431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1413.455173 meters looking forward 0.000000 meters along route # Maximum depth: 1413.455173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.455173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933402; longitude = -130.021480; captureRadius = 10; duration = 100; initialDepth = 1371.252063; finalDepth = 1373.455173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.455173 # Seafloor depth:-1413.455173 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1411.252063 meters looking forward 0.000000 meters along route # Maximum depth: 1411.252063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.252063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934211; longitude = -130.022086; captureRadius = 10; duration = 100; initialDepth = 1370.761776; finalDepth = 1371.252063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1371.252063 # Seafloor depth:-1411.252063 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1410.761776 meters looking forward 0.000000 meters along route # Maximum depth: 1410.761776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.761776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935021; longitude = -130.022692; captureRadius = 10; duration = 100; initialDepth = 1365.854627; finalDepth = 1370.761776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1370.761776 # Seafloor depth:-1410.761776 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1405.854627 meters looking forward 0.000000 meters along route # Maximum depth: 1405.854627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.854627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935831; longitude = -130.023298; captureRadius = 10; duration = 100; initialDepth = 1365.184024; finalDepth = 1365.854627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1365.854627 # Seafloor depth:-1405.854627 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1405.184024 meters looking forward 0.000000 meters along route # Maximum depth: 1405.184024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.184024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936644; longitude = -130.023907; captureRadius = 10; duration = 100; initialDepth = 1363.929482; finalDepth = 1365.184024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1365.184024 # Seafloor depth:-1405.184024 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.895453 meters # Minimum depth: 1403.929482 meters looking forward 0.000000 meters along route # Maximum depth: 1403.929482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.929482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937450; longitude = -130.024511; captureRadius = 10; duration = 100; initialDepth = 1361.551270; finalDepth = 1363.929482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1363.929482 # Seafloor depth:-1403.929482 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 72 # Segment length 100.895453 meters # Minimum depth: 1401.551270 meters looking forward 0.000000 meters along route # Maximum depth: 1401.551270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.551270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938277; longitude = -130.025130; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1361.693800; finalDepth = 1361.551270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1361.55127 # Seafloor depth:-1401.551270 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1401.693800 meters looking forward 0.000000 meters along route # Maximum depth: 1401.693800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.693800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938530; longitude = -130.025277; captureRadius = 10; duration = 100; initialDepth = 1362.388167; finalDepth = 1361.693800; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1361.6938 # Seafloor depth:-1401.693800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1402.388167 meters looking forward 0.000000 meters along route # Maximum depth: 1402.388167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.388167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939393; longitude = -130.025777; captureRadius = 10; duration = 100; initialDepth = 1361.938405; finalDepth = 1362.388167; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.388167 # Seafloor depth:-1402.388167 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1401.938405 meters looking forward 0.000000 meters along route # Maximum depth: 1401.938405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.938405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940239; longitude = -130.026268; captureRadius = 10; duration = 100; initialDepth = 1361.697163; finalDepth = 1361.938405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1361.938405 # Seafloor depth:-1401.938405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1401.697163 meters looking forward 0.000000 meters along route # Maximum depth: 1401.697163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.697163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941094; longitude = -130.026764; captureRadius = 10; duration = 100; initialDepth = 1362.009909; finalDepth = 1361.697163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1361.697163 # Seafloor depth:-1401.697163 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1402.009909 meters looking forward 0.000000 meters along route # Maximum depth: 1402.009909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.009909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941950; longitude = -130.027260; captureRadius = 10; duration = 100; initialDepth = 1363.441578; finalDepth = 1362.009909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.009909 # Seafloor depth:-1402.009909 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1403.441578 meters looking forward 0.000000 meters along route # Maximum depth: 1403.441578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.441578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942803; longitude = -130.027755; captureRadius = 10; duration = 100; initialDepth = 1363.858592; finalDepth = 1363.441578; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1363.441578 # Seafloor depth:-1403.441578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1403.858592 meters looking forward 0.000000 meters along route # Maximum depth: 1403.858592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.858592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943658; longitude = -130.028251; captureRadius = 10; duration = 100; initialDepth = 1365.263243; finalDepth = 1363.858592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1363.858592 # Seafloor depth:-1403.858592 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1405.263243 meters looking forward 0.000000 meters along route # Maximum depth: 1405.263243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.263243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944513; longitude = -130.028746; captureRadius = 10; duration = 100; initialDepth = 1365.689453; finalDepth = 1365.263243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1365.263243 # Seafloor depth:-1405.263243 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1405.689453 meters looking forward 0.000000 meters along route # Maximum depth: 1405.689453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.689453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945368; longitude = -130.029242; captureRadius = 10; duration = 100; initialDepth = 1366.730842; finalDepth = 1365.689453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1365.689453 # Seafloor depth:-1405.689453 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1406.730842 meters looking forward 0.000000 meters along route # Maximum depth: 1406.730842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.730842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946222; longitude = -130.029738; captureRadius = 10; duration = 100; initialDepth = 1367.584588; finalDepth = 1366.730842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1366.730842 # Seafloor depth:-1406.730842 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1407.584588 meters looking forward 0.000000 meters along route # Maximum depth: 1407.584588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.584588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947077; longitude = -130.030233; captureRadius = 10; duration = 100; initialDepth = 1368.286036; finalDepth = 1367.584588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1367.584588 # Seafloor depth:-1407.584588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1408.286036 meters looking forward 0.000000 meters along route # Maximum depth: 1408.286036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.286036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947932; longitude = -130.030729; captureRadius = 10; duration = 100; initialDepth = 1372.282211; finalDepth = 1368.286036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1368.286036 # Seafloor depth:-1408.286036 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1412.282211 meters looking forward 0.000000 meters along route # Maximum depth: 1412.282211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.282211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948786; longitude = -130.031225; captureRadius = 10; duration = 100; initialDepth = 1375.289673; finalDepth = 1372.282211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.282211 # Seafloor depth:-1412.282211 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 100.895453 meters # Minimum depth: 1415.289673 meters looking forward 0.000000 meters along route # Maximum depth: 1415.289673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.289673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949641; longitude = -130.031720; captureRadius = 10; duration = 100; initialDepth = 1374.572662; finalDepth = 1375.289673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1375.289673 # Seafloor depth:-1415.289673 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 71 # Segment length 100.895453 meters # Minimum depth: 1414.572662 meters looking forward 0.000000 meters along route # Maximum depth: 1414.572662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.572662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950515; longitude = -130.032227; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1373.695810; finalDepth = 1374.572662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1374.572662 # Seafloor depth:-1414.572662 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1413.695810 meters looking forward 0.000000 meters along route # Maximum depth: 1413.695810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.695810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950813; longitude = -130.032354; captureRadius = 10; duration = 100; initialDepth = 1374.766063; finalDepth = 1373.695810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.69581 # Seafloor depth:-1413.695810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1414.766063 meters looking forward 0.000000 meters along route # Maximum depth: 1414.766063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.766063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951722; longitude = -130.032741; captureRadius = 10; duration = 100; initialDepth = 1376.641420; finalDepth = 1374.766063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1374.766063 # Seafloor depth:-1414.766063 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1416.641420 meters looking forward 0.000000 meters along route # Maximum depth: 1416.641420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.641420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952631; longitude = -130.033128; captureRadius = 10; duration = 100; initialDepth = 1379.180220; finalDepth = 1376.641420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1376.64142 # Seafloor depth:-1416.641420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1419.180220 meters looking forward 0.000000 meters along route # Maximum depth: 1419.180220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.180220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953540; longitude = -130.033514; captureRadius = 10; duration = 100; initialDepth = 1381.544390; finalDepth = 1379.180220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1379.18022 # Seafloor depth:-1419.180220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1421.544390 meters looking forward 0.000000 meters along route # Maximum depth: 1421.544390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.544390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954448; longitude = -130.033901; captureRadius = 10; duration = 100; initialDepth = 1383.638533; finalDepth = 1381.544390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1381.54439 # Seafloor depth:-1421.544390 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1423.638533 meters looking forward 0.000000 meters along route # Maximum depth: 1423.638533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.638533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955357; longitude = -130.034288; captureRadius = 10; duration = 100; initialDepth = 1385.507304; finalDepth = 1383.638533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1383.638533 # Seafloor depth:-1423.638533 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1425.507304 meters looking forward 0.000000 meters along route # Maximum depth: 1425.507304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.507304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956266; longitude = -130.034675; captureRadius = 10; duration = 100; initialDepth = 1383.500151; finalDepth = 1385.507304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1385.507304 # Seafloor depth:-1425.507304 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1423.500151 meters looking forward 0.000000 meters along route # Maximum depth: 1423.500151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.500151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957175; longitude = -130.035062; captureRadius = 10; duration = 100; initialDepth = 1382.779173; finalDepth = 1383.500151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1383.500151 # Seafloor depth:-1423.500151 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1422.779173 meters looking forward 0.000000 meters along route # Maximum depth: 1422.779173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.779173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958084; longitude = -130.035449; captureRadius = 10; duration = 100; initialDepth = 1385.124485; finalDepth = 1382.779173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1382.779173 # Seafloor depth:-1422.779173 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1425.124485 meters looking forward 0.000000 meters along route # Maximum depth: 1425.124485 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.124485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958993; longitude = -130.035836; captureRadius = 10; duration = 100; initialDepth = 1388.051009; finalDepth = 1385.124485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1385.124485 # Seafloor depth:-1425.124485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1428.051009 meters looking forward 0.000000 meters along route # Maximum depth: 1428.051009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.051009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959902; longitude = -130.036223; captureRadius = 10; duration = 100; initialDepth = 1392.067113; finalDepth = 1388.051009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1388.051009 # Seafloor depth:-1428.051009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1432.067113 meters looking forward 0.000000 meters along route # Maximum depth: 1432.067113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.067113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960811; longitude = -130.036609; captureRadius = 10; duration = 100; initialDepth = 1392.132498; finalDepth = 1392.067113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1392.067113 # Seafloor depth:-1432.067113 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1432.132498 meters looking forward 0.000000 meters along route # Maximum depth: 1432.132498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.132498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961720; longitude = -130.036996; captureRadius = 10; duration = 100; initialDepth = 1391.437579; finalDepth = 1392.132498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1392.132498 # Seafloor depth:-1432.132498 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1431.437579 meters looking forward 0.000000 meters along route # Maximum depth: 1431.437579 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.437579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962628; longitude = -130.037383; captureRadius = 10; duration = 100; initialDepth = 1400.682086; finalDepth = 1391.437579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1391.437579 # Seafloor depth:-1431.437579 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1440.682086 meters looking forward 0.000000 meters along route # Maximum depth: 1440.682086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.682086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963537; longitude = -130.037770; captureRadius = 10; duration = 100; initialDepth = 1406.392235; finalDepth = 1400.682086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1400.682086 # Seafloor depth:-1440.682086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1446.392235 meters looking forward 0.000000 meters along route # Maximum depth: 1446.392235 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.392235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964446; longitude = -130.038157; captureRadius = 10; duration = 100; initialDepth = 1413.411895; finalDepth = 1406.392235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1406.392235 # Seafloor depth:-1446.392235 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1453.411895 meters looking forward 0.000000 meters along route # Maximum depth: 1453.411895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.411895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965355; longitude = -130.038544; captureRadius = 10; duration = 100; initialDepth = 1415.686064; finalDepth = 1413.411895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1413.411895 # Seafloor depth:-1453.411895 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1455.686064 meters looking forward 0.000000 meters along route # Maximum depth: 1455.686064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.686064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966264; longitude = -130.038931; captureRadius = 10; duration = 100; initialDepth = 1417.065039; finalDepth = 1415.686064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1415.686064 # Seafloor depth:-1455.686064 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1457.065039 meters looking forward 0.000000 meters along route # Maximum depth: 1457.065039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.065039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967173; longitude = -130.039318; captureRadius = 10; duration = 100; initialDepth = 1417.775743; finalDepth = 1417.065039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1417.065039 # Seafloor depth:-1457.065039 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1457.775743 meters looking forward 0.000000 meters along route # Maximum depth: 1457.775743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.775743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968082; longitude = -130.039704; captureRadius = 10; duration = 100; initialDepth = 1419.222798; finalDepth = 1417.775743; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1417.775743 # Seafloor depth:-1457.775743 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1459.222798 meters looking forward 0.000000 meters along route # Maximum depth: 1459.222798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.222798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968991; longitude = -130.040091; captureRadius = 10; duration = 100; initialDepth = 1418.314872; finalDepth = 1419.222798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1419.222798 # Seafloor depth:-1459.222798 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1458.314872 meters looking forward 0.000000 meters along route # Maximum depth: 1458.314872 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.314872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969899; longitude = -130.040478; captureRadius = 10; duration = 100; initialDepth = 1424.062916; finalDepth = 1418.314872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1418.314872 # Seafloor depth:-1458.314872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.895453 meters # Minimum depth: 1464.062916 meters looking forward 0.000000 meters along route # Maximum depth: 1464.062916 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.062916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970808; longitude = -130.040865; captureRadius = 10; duration = 100; initialDepth = 1419.555634; finalDepth = 1424.062916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1424.062916 # Seafloor depth:-1464.062916 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 70 # Segment length 100.895453 meters # Minimum depth: 1459.555634 meters looking forward 0.000000 meters along route # Maximum depth: 1459.555634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.555634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971781; longitude = -130.041279; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1419.414982; finalDepth = 1419.555634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1419.555634 # Seafloor depth:-1459.555634 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.895453 meters # Minimum depth: 1459.414982 meters looking forward 0.000000 meters along route # Maximum depth: 1459.414982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.414982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971883; longitude = -130.041316; captureRadius = 10; duration = 100; initialDepth = 1419.195158; finalDepth = 1419.414982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1419.414982 # Seafloor depth:-1459.414982 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.895453 meters # Minimum depth: 1459.195158 meters looking forward 0.000000 meters along route # Maximum depth: 1459.195158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.195158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972760; longitude = -130.041639; captureRadius = 10; duration = 100; initialDepth = 1419.446989; finalDepth = 1419.195158; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1419.195158 # Seafloor depth:-1459.195158 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.895453 meters # Minimum depth: 1459.446989 meters looking forward 0.000000 meters along route # Maximum depth: 1459.446989 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.446989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973638; longitude = -130.041961; captureRadius = 10; duration = 100; initialDepth = 1425.136012; finalDepth = 1419.446989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1419.446989 # Seafloor depth:-1459.446989 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.895453 meters # Minimum depth: 1465.136012 meters looking forward 0.000000 meters along route # Maximum depth: 1465.136012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.136012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974516; longitude = -130.042284; captureRadius = 10; duration = 100; initialDepth = 1441.456818; finalDepth = 1425.136012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1425.136012 # Seafloor depth:-1465.136012 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 69 # Segment length 100.895453 meters # Minimum depth: 1481.456818 meters looking forward 0.000000 meters along route # Maximum depth: 1481.456818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.456818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975470; longitude = -130.042634; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1443.936487; finalDepth = 1441.456818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1441.456818 # Seafloor depth:-1481.456818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.895453 meters # Minimum depth: 1483.936487 meters looking forward 0.000000 meters along route # Maximum depth: 1483.936487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.936487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975681; longitude = -130.042606; captureRadius = 10; duration = 100; initialDepth = 1451.855017; finalDepth = 1443.936487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1443.936487 # Seafloor depth:-1483.936487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.895453 meters # Minimum depth: 1491.855017 meters looking forward 0.000000 meters along route # Maximum depth: 1491.855017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.855017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976651; longitude = -130.042477; captureRadius = 10; duration = 100; initialDepth = 1450.284498; finalDepth = 1451.855017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.855017 # Seafloor depth:-1491.855017 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.895453 meters # Minimum depth: 1490.284498 meters looking forward 0.000000 meters along route # Maximum depth: 1490.284498 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1450.284498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977621; longitude = -130.042348; captureRadius = 10; duration = 100; initialDepth = 1451.572724; finalDepth = 1450.284498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1450.284498 # Seafloor depth:-1490.284498 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.895453 meters # Minimum depth: 1491.572724 meters looking forward 0.000000 meters along route # Maximum depth: 1491.572724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.572724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978591; longitude = -130.042219; captureRadius = 10; duration = 100; initialDepth = 1452.651136; finalDepth = 1451.572724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.572724 # Seafloor depth:-1491.572724 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.895453 meters # Minimum depth: 1492.651136 meters looking forward 0.000000 meters along route # Maximum depth: 1492.651136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.651136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979561; longitude = -130.042090; captureRadius = 10; duration = 100; initialDepth = 1455.575562; finalDepth = 1452.651136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.651136 # Seafloor depth:-1492.651136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 68 # Segment length 100.895453 meters # Minimum depth: 1495.575562 meters looking forward 0.000000 meters along route # Maximum depth: 1495.575562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.575562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980479; longitude = -130.041968; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1453.942969; finalDepth = 1455.575562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.575562 # Seafloor depth:-1495.575562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.895453 meters # Minimum depth: 1493.942969 meters looking forward 0.000000 meters along route # Maximum depth: 1493.942969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.942969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980866; longitude = -130.041832; captureRadius = 10; duration = 100; initialDepth = 1451.942674; finalDepth = 1453.942969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1453.942969 # Seafloor depth:-1493.942969 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.895453 meters # Minimum depth: 1491.942674 meters looking forward 0.000000 meters along route # Maximum depth: 1491.942674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.942674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981786; longitude = -130.041510; captureRadius = 10; duration = 100; initialDepth = 1452.514707; finalDepth = 1451.942674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.942674 # Seafloor depth:-1491.942674 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.895453 meters # Minimum depth: 1492.514707 meters looking forward 0.000000 meters along route # Maximum depth: 1492.514707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.514707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982705; longitude = -130.041187; captureRadius = 10; duration = 100; initialDepth = 1456.156874; finalDepth = 1452.514707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.514707 # Seafloor depth:-1492.514707 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.895453 meters # Minimum depth: 1496.156874 meters looking forward 0.000000 meters along route # Maximum depth: 1496.156874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.156874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983624; longitude = -130.040865; captureRadius = 10; duration = 100; initialDepth = 1463.312347; finalDepth = 1456.156874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.156874 # Seafloor depth:-1496.156874 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 67 # Segment length 100.895453 meters # Minimum depth: 1503.312347 meters looking forward 0.000000 meters along route # Maximum depth: 1503.312347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.312347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984528; longitude = -130.040548; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1463.132444; finalDepth = 1463.312347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.312347 # Seafloor depth:-1503.312347 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 100.895453 meters # Minimum depth: 1503.132444 meters looking forward 0.000000 meters along route # Maximum depth: 1503.132444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.132444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984762; longitude = -130.040414; captureRadius = 10; duration = 100; initialDepth = 1466.930781; finalDepth = 1463.132444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.132444 # Seafloor depth:-1503.132444 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 100.895453 meters # Minimum depth: 1506.930781 meters looking forward 0.000000 meters along route # Maximum depth: 1506.930781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.930781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985662; longitude = -130.039898; captureRadius = 10; duration = 100; initialDepth = 1465.647571; finalDepth = 1466.930781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.930781 # Seafloor depth:-1506.930781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 100.895453 meters # Minimum depth: 1505.647571 meters looking forward 0.000000 meters along route # Maximum depth: 1505.647571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.647571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986562; longitude = -130.039382; captureRadius = 10; duration = 100; initialDepth = 1462.534236; finalDepth = 1465.647571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.647571 # Seafloor depth:-1505.647571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 100.895453 meters # Minimum depth: 1502.534236 meters looking forward 0.000000 meters along route # Maximum depth: 1502.534236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.534236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987461; longitude = -130.038866; captureRadius = 10; duration = 100; initialDepth = 1466.022888; finalDepth = 1462.534236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.534236 # Seafloor depth:-1502.534236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 66 # Segment length 100.895453 meters # Minimum depth: 1506.022888 meters looking forward 0.000000 meters along route # Maximum depth: 1506.022888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.022888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988353; longitude = -130.038355; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1466.219698; finalDepth = 1466.022888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.022888 # Seafloor depth:-1506.022888 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.895453 meters # Minimum depth: 1506.219698 meters looking forward 0.000000 meters along route # Maximum depth: 1506.219698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.219698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988567; longitude = -130.038028; captureRadius = 10; duration = 100; initialDepth = 1466.637899; finalDepth = 1466.219698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.219698 # Seafloor depth:-1506.219698 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.895453 meters # Minimum depth: 1506.637899 meters looking forward 0.000000 meters along route # Maximum depth: 1506.637899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.637899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989201; longitude = -130.037061; captureRadius = 10; duration = 100; initialDepth = 1471.369605; finalDepth = 1466.637899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.637899 # Seafloor depth:-1506.637899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.895453 meters # Minimum depth: 1511.369605 meters looking forward 0.000000 meters along route # Maximum depth: 1511.369605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.369605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989835; longitude = -130.036094; captureRadius = 10; duration = 100; initialDepth = 1452.895111; finalDepth = 1471.369605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.369605 # Seafloor depth:-1511.369605 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 65 # Segment length 100.895453 meters # Minimum depth: 1492.895111 meters looking forward 0.000000 meters along route # Maximum depth: 1492.895111 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.895111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990467; longitude = -130.035129; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1449.172229; finalDepth = 1452.895111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.895111 # Seafloor depth:-1492.895111 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.895453 meters # Minimum depth: 1489.172229 meters looking forward 0.000000 meters along route # Maximum depth: 1489.172229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.172229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.990681; longitude = -130.034353; captureRadius = 10; duration = 100; initialDepth = 1453.342091; finalDepth = 1449.172229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.172229 # Seafloor depth:-1489.172229 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.895453 meters # Minimum depth: 1493.342091 meters looking forward 0.000000 meters along route # Maximum depth: 1493.342091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.342091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991020; longitude = -130.033128; captureRadius = 10; duration = 100; initialDepth = 1447.053223; finalDepth = 1453.342091; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1453.342091 # Seafloor depth:-1493.342091 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 100.895453 meters # Minimum depth: 1487.053223 meters looking forward 0.000000 meters along route # Maximum depth: 1487.053223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.053223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.991352; longitude = -130.031925; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1447.996460; finalDepth = 1447.053223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1447.053223 # Seafloor depth:-1487.053223 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 63 # Segment length 100.895453 meters # Minimum depth: 1487.996460 meters looking forward 0.000000 meters along route # Maximum depth: 1487.996460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.996460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989867; longitude = -130.031925; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1457.691516; finalDepth = 1447.996460; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1447.99646 # Seafloor depth:-1487.996460 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 100.895453 meters # Minimum depth: 1497.691516 meters looking forward 0.000000 meters along route # Maximum depth: 1497.691516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.691516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989515; longitude = -130.032934; captureRadius = 10; duration = 100; initialDepth = 1461.786560; finalDepth = 1457.691516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1457.691516 # Seafloor depth:-1497.691516 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 62 # Segment length 100.895453 meters # Minimum depth: 1501.786560 meters looking forward 0.000000 meters along route # Maximum depth: 1501.786560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.786560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.989102; longitude = -130.034119; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1461.165661; finalDepth = 1461.786560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.78656 # Seafloor depth:-1501.786560 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.895453 meters # Minimum depth: 1501.165661 meters looking forward 0.000000 meters along route # Maximum depth: 1501.165661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.165661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988804; longitude = -130.034546; captureRadius = 10; duration = 100; initialDepth = 1462.508245; finalDepth = 1461.165661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.165661 # Seafloor depth:-1501.165661 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.895453 meters # Minimum depth: 1502.508245 meters looking forward 0.000000 meters along route # Maximum depth: 1502.508245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.508245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.988130; longitude = -130.035513; captureRadius = 10; duration = 100; initialDepth = 1463.622772; finalDepth = 1462.508245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.508245 # Seafloor depth:-1502.508245 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 61 # Segment length 100.895453 meters # Minimum depth: 1503.622772 meters looking forward 0.000000 meters along route # Maximum depth: 1503.622772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.622772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987453; longitude = -130.036484; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1463.634915; finalDepth = 1463.622772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.622772 # Seafloor depth:-1503.622772 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.895453 meters # Minimum depth: 1503.634915 meters looking forward 0.000000 meters along route # Maximum depth: 1503.634915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.634915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.987353; longitude = -130.036545; captureRadius = 10; duration = 100; initialDepth = 1456.698348; finalDepth = 1463.634915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.634915 # Seafloor depth:-1503.634915 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.895453 meters # Minimum depth: 1496.698348 meters looking forward 0.000000 meters along route # Maximum depth: 1496.698348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.698348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.986502; longitude = -130.037061; captureRadius = 10; duration = 100; initialDepth = 1458.393602; finalDepth = 1456.698348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.698348 # Seafloor depth:-1496.698348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.895453 meters # Minimum depth: 1498.393602 meters looking forward 0.000000 meters along route # Maximum depth: 1498.393602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.393602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.985652; longitude = -130.037577; captureRadius = 10; duration = 100; initialDepth = 1459.817308; finalDepth = 1458.393602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.393602 # Seafloor depth:-1498.393602 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.895453 meters # Minimum depth: 1499.817308 meters looking forward 0.000000 meters along route # Maximum depth: 1499.817308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.817308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.984801; longitude = -130.038092; captureRadius = 10; duration = 100; initialDepth = 1456.164490; finalDepth = 1459.817308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.817308 # Seafloor depth:-1499.817308 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 60 # Segment length 100.895453 meters # Minimum depth: 1496.164490 meters looking forward 0.000000 meters along route # Maximum depth: 1496.164490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.164490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983943; longitude = -130.038613; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1451.869410; finalDepth = 1456.164490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.16449 # Seafloor depth:-1496.164490 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.895453 meters # Minimum depth: 1491.869410 meters looking forward 0.000000 meters along route # Maximum depth: 1491.869410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.869410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.983035; longitude = -130.038931; captureRadius = 10; duration = 100; initialDepth = 1453.758048; finalDepth = 1451.869410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.86941 # Seafloor depth:-1491.869410 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.895453 meters # Minimum depth: 1493.758048 meters looking forward 0.000000 meters along route # Maximum depth: 1493.758048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.758048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.982114; longitude = -130.039253; captureRadius = 10; duration = 100; initialDepth = 1453.064988; finalDepth = 1453.758048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1453.758048 # Seafloor depth:-1493.758048 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.895453 meters # Minimum depth: 1493.064988 meters looking forward 0.000000 meters along route # Maximum depth: 1493.064988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.064988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.981193; longitude = -130.039575; captureRadius = 10; duration = 100; initialDepth = 1455.706421; finalDepth = 1453.064988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1453.064988 # Seafloor depth:-1493.064988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 59 # Segment length 100.895453 meters # Minimum depth: 1495.706421 meters looking forward 0.000000 meters along route # Maximum depth: 1495.706421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.706421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.980194; longitude = -130.039925; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1456.112486; finalDepth = 1455.706421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.706421 # Seafloor depth:-1495.706421 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 100.895453 meters # Minimum depth: 1496.112486 meters looking forward 0.000000 meters along route # Maximum depth: 1496.112486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.112486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.979716; longitude = -130.040027; captureRadius = 10; duration = 100; initialDepth = 1455.353139; finalDepth = 1456.112486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.112486 # Seafloor depth:-1496.112486 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 100.895453 meters # Minimum depth: 1495.353139 meters looking forward 0.000000 meters along route # Maximum depth: 1495.353139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.353139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.978808; longitude = -130.040220; captureRadius = 10; duration = 100; initialDepth = 1451.595702; finalDepth = 1455.353139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.353139 # Seafloor depth:-1495.353139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 100.895453 meters # Minimum depth: 1491.595702 meters looking forward 0.000000 meters along route # Maximum depth: 1491.595702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.595702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977900; longitude = -130.040414; captureRadius = 10; duration = 100; initialDepth = 1455.263214; finalDepth = 1451.595702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.595702 # Seafloor depth:-1491.595702 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 58 # Segment length 100.895453 meters # Minimum depth: 1495.263214 meters looking forward 0.000000 meters along route # Maximum depth: 1495.263214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.263214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976865; longitude = -130.040634; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1446.698975; finalDepth = 1455.263214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.263214 # Seafloor depth:-1495.263214 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.895453 meters # Minimum depth: 1486.698975 meters looking forward 0.000000 meters along route # Maximum depth: 1486.698975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.698975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975845; longitude = -130.040736; captureRadius = 10; duration = 100; initialDepth = 1423.297791; finalDepth = 1446.698975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1446.698975 # Seafloor depth:-1486.698975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 57 # Segment length 100.895453 meters # Minimum depth: 1463.297791 meters looking forward 0.000000 meters along route # Maximum depth: 1463.297791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.297791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974495; longitude = -130.040871; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1423.197306; finalDepth = 1423.297791; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1423.297791 # Seafloor depth:-1463.297791 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.895453 meters # Minimum depth: 1463.197306 meters looking forward 0.000000 meters along route # Maximum depth: 1463.197306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.197306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974016; longitude = -130.040736; captureRadius = 10; duration = 100; initialDepth = 1424.309878; finalDepth = 1423.197306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1423.197306 # Seafloor depth:-1463.197306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.895453 meters # Minimum depth: 1464.309878 meters looking forward 0.000000 meters along route # Maximum depth: 1464.309878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.309878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973099; longitude = -130.040478; captureRadius = 10; duration = 100; initialDepth = 1422.286285; finalDepth = 1424.309878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1424.309878 # Seafloor depth:-1464.309878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 56 # Segment length 100.895453 meters # Minimum depth: 1462.286285 meters looking forward 0.000000 meters along route # Maximum depth: 1462.286285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.286285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972051; longitude = -130.040183; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1431.071501; finalDepth = 1422.286285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1422.286285 # Seafloor depth:-1462.286285 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.895453 meters # Minimum depth: 1471.071501 meters looking forward 0.000000 meters along route # Maximum depth: 1471.071501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1431.071501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971517; longitude = -130.039704; captureRadius = 10; duration = 100; initialDepth = 1442.295425; finalDepth = 1431.071501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1431.071501 # Seafloor depth:-1471.071501 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 100.895453 meters # Minimum depth: 1482.295425 meters looking forward 0.000000 meters along route # Maximum depth: 1482.295425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.295425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970726; longitude = -130.038995; captureRadius = 10; duration = 100; initialDepth = 1441.388824; finalDepth = 1442.295425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.295425 # Seafloor depth:-1482.295425 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 55 # Segment length 100.895453 meters # Minimum depth: 1481.388824 meters looking forward 0.000000 meters along route # Maximum depth: 1481.388824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.388824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969891; longitude = -130.038247; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1439.499358; finalDepth = 1441.388824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1441.388824 # Seafloor depth:-1481.388824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 100.895453 meters # Minimum depth: 1479.499358 meters looking forward 0.000000 meters along route # Maximum depth: 1479.499358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.499358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969692; longitude = -130.038157; captureRadius = 10; duration = 100; initialDepth = 1434.090648; finalDepth = 1439.499358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1439.499358 # Seafloor depth:-1479.499358 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 100.895453 meters # Minimum depth: 1474.090648 meters looking forward 0.000000 meters along route # Maximum depth: 1474.090648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1434.090648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968693; longitude = -130.037706; captureRadius = 10; duration = 100; initialDepth = 1430.817535; finalDepth = 1434.090648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1434.090648 # Seafloor depth:-1474.090648 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 54 # Segment length 100.895453 meters # Minimum depth: 1470.817535 meters looking forward 0.000000 meters along route # Maximum depth: 1470.817535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1430.817535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967702; longitude = -130.037258; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1429.738340; finalDepth = 1430.817535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1430.817535 # Seafloor depth:-1470.817535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.895453 meters # Minimum depth: 1469.738340 meters looking forward 0.000000 meters along route # Maximum depth: 1469.738340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.738340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967442; longitude = -130.037190; captureRadius = 10; duration = 100; initialDepth = 1427.719293; finalDepth = 1429.738340; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1429.73834 # Seafloor depth:-1469.738340 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.895453 meters # Minimum depth: 1467.719293 meters looking forward 0.000000 meters along route # Maximum depth: 1467.719293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.719293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966459; longitude = -130.036932; captureRadius = 10; duration = 100; initialDepth = 1420.924957; finalDepth = 1427.719293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1427.719293 # Seafloor depth:-1467.719293 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 53 # Segment length 100.895453 meters # Minimum depth: 1460.924957 meters looking forward 0.000000 meters along route # Maximum depth: 1460.924957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1420.924957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965572; longitude = -130.036699; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1418.701413; finalDepth = 1420.924957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1420.924957 # Seafloor depth:-1460.924957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.895453 meters # Minimum depth: 1458.701413 meters looking forward 0.000000 meters along route # Maximum depth: 1458.701413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.701413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965059; longitude = -130.036480; captureRadius = 10; duration = 100; initialDepth = 1407.257054; finalDepth = 1418.701413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1418.701413 # Seafloor depth:-1458.701413 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.895453 meters # Minimum depth: 1447.257054 meters looking forward 0.000000 meters along route # Maximum depth: 1447.257054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.257054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964152; longitude = -130.036094; captureRadius = 10; duration = 100; initialDepth = 1401.297325; finalDepth = 1407.257054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1407.257054 # Seafloor depth:-1447.257054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.895453 meters # Minimum depth: 1441.297325 meters looking forward 0.000000 meters along route # Maximum depth: 1441.297325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.297325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963244; longitude = -130.035707; captureRadius = 10; duration = 100; initialDepth = 1393.941101; finalDepth = 1401.297325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1401.297325 # Seafloor depth:-1441.297325 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 52 # Segment length 100.895453 meters # Minimum depth: 1433.941101 meters looking forward 0.000000 meters along route # Maximum depth: 1433.941101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.941101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962243; longitude = -130.035280; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1389.760089; finalDepth = 1393.941101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1393.941101 # Seafloor depth:-1433.941101 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.895453 meters # Minimum depth: 1429.760089 meters looking forward 0.000000 meters along route # Maximum depth: 1429.760089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.760089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961644; longitude = -130.034933; captureRadius = 10; duration = 100; initialDepth = 1388.375296; finalDepth = 1389.760089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1389.760089 # Seafloor depth:-1429.760089 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.895453 meters # Minimum depth: 1428.375296 meters looking forward 0.000000 meters along route # Maximum depth: 1428.375296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.375296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960753; longitude = -130.034417; captureRadius = 10; duration = 100; initialDepth = 1380.157227; finalDepth = 1388.375296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1388.375296 # Seafloor depth:-1428.375296 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 51 # Segment length 100.895453 meters # Minimum depth: 1420.157227 meters looking forward 0.000000 meters along route # Maximum depth: 1420.157227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.157227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959903; longitude = -130.033925; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1380.859912; finalDepth = 1380.157227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1380.157227 # Seafloor depth:-1420.157227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.895453 meters # Minimum depth: 1420.859912 meters looking forward 0.000000 meters along route # Maximum depth: 1420.859912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.859912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959452; longitude = -130.033708; captureRadius = 10; duration = 100; initialDepth = 1381.697898; finalDepth = 1380.859912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1380.859912 # Seafloor depth:-1420.859912 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.895453 meters # Minimum depth: 1421.697898 meters looking forward 0.000000 meters along route # Maximum depth: 1421.697898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.697898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958513; longitude = -130.033256; captureRadius = 10; duration = 100; initialDepth = 1372.733582; finalDepth = 1381.697898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1381.697898 # Seafloor depth:-1421.697898 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 50 # Segment length 100.895453 meters # Minimum depth: 1412.733582 meters looking forward 0.000000 meters along route # Maximum depth: 1412.733582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.733582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957579; longitude = -130.032807; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1372.015497; finalDepth = 1372.733582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.733582 # Seafloor depth:-1412.733582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 100.895453 meters # Minimum depth: 1412.015497 meters looking forward 0.000000 meters along route # Maximum depth: 1412.015497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.015497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957569; longitude = -130.032805; captureRadius = 10; duration = 100; initialDepth = 1370.731034; finalDepth = 1372.015497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.015497 # Seafloor depth:-1412.015497 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 100.895453 meters # Minimum depth: 1410.731034 meters looking forward 0.000000 meters along route # Maximum depth: 1410.731034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.731034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956489; longitude = -130.032612; captureRadius = 10; duration = 100; initialDepth = 1377.891449; finalDepth = 1370.731034; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1370.731034 # Seafloor depth:-1410.731034 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 49 # Segment length 100.895453 meters # Minimum depth: 1417.891449 meters looking forward 0.000000 meters along route # Maximum depth: 1417.891449 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.891449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955419; longitude = -130.032420; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1377.690510; finalDepth = 1377.891449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.891449 # Seafloor depth:-1417.891449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.895453 meters # Minimum depth: 1417.690510 meters looking forward 0.000000 meters along route # Maximum depth: 1417.690510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.690510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955254; longitude = -130.032354; captureRadius = 10; duration = 100; initialDepth = 1377.502911; finalDepth = 1377.690510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.69051 # Seafloor depth:-1417.690510 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.895453 meters # Minimum depth: 1417.502911 meters looking forward 0.000000 meters along route # Maximum depth: 1417.502911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.502911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954288; longitude = -130.031967; captureRadius = 10; duration = 100; initialDepth = 1375.897247; finalDepth = 1377.502911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1377.502911 # Seafloor depth:-1417.502911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 48 # Segment length 100.895453 meters # Minimum depth: 1415.897247 meters looking forward 0.000000 meters along route # Maximum depth: 1415.897247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.897247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953380; longitude = -130.031603; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1374.212722; finalDepth = 1375.897247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1375.897247 # Seafloor depth:-1415.897247 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.895453 meters # Minimum depth: 1414.212722 meters looking forward 0.000000 meters along route # Maximum depth: 1414.212722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.212722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952787; longitude = -130.031387; captureRadius = 10; duration = 100; initialDepth = 1372.237984; finalDepth = 1374.212722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1374.212722 # Seafloor depth:-1414.212722 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.895453 meters # Minimum depth: 1412.237984 meters looking forward 0.000000 meters along route # Maximum depth: 1412.237984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.237984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951903; longitude = -130.031064; captureRadius = 10; duration = 100; initialDepth = 1371.939026; finalDepth = 1372.237984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.237984 # Seafloor depth:-1412.237984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 47 # Segment length 100.895453 meters # Minimum depth: 1411.939026 meters looking forward 0.000000 meters along route # Maximum depth: 1411.939026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.939026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950905; longitude = -130.030700; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1372.092893; finalDepth = 1371.939026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1371.939026 # Seafloor depth:-1411.939026 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.895453 meters # Minimum depth: 1412.092893 meters looking forward 0.000000 meters along route # Maximum depth: 1412.092893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.092893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950688; longitude = -130.030548; captureRadius = 10; duration = 100; initialDepth = 1370.024839; finalDepth = 1372.092893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.092893 # Seafloor depth:-1412.092893 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.895453 meters # Minimum depth: 1410.024839 meters looking forward 0.000000 meters along route # Maximum depth: 1410.024839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1370.024839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949860; longitude = -130.029968; captureRadius = 10; duration = 100; initialDepth = 1369.713379; finalDepth = 1370.024839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1370.024839 # Seafloor depth:-1410.024839 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 46 # Segment length 100.895453 meters # Minimum depth: 1409.713379 meters looking forward 0.000000 meters along route # Maximum depth: 1409.713379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.713379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948970; longitude = -130.029345; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1369.075985; finalDepth = 1369.713379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1369.713379 # Seafloor depth:-1409.713379 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.895453 meters # Minimum depth: 1409.075985 meters looking forward 0.000000 meters along route # Maximum depth: 1409.075985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.075985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948749; longitude = -130.029194; captureRadius = 10; duration = 100; initialDepth = 1367.040030; finalDepth = 1369.075985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1369.075985 # Seafloor depth:-1409.075985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.895453 meters # Minimum depth: 1407.040030 meters looking forward 0.000000 meters along route # Maximum depth: 1407.040030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.040030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947898; longitude = -130.028614; captureRadius = 10; duration = 100; initialDepth = 1367.287434; finalDepth = 1367.040030; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1367.04003 # Seafloor depth:-1407.040030 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.895453 meters # Minimum depth: 1407.287434 meters looking forward 0.000000 meters along route # Maximum depth: 1407.287434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.287434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947047; longitude = -130.028034; captureRadius = 10; duration = 100; initialDepth = 1366.665741; finalDepth = 1367.287434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1367.287434 # Seafloor depth:-1407.287434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 45 # Segment length 100.895453 meters # Minimum depth: 1406.665741 meters looking forward 0.000000 meters along route # Maximum depth: 1406.665741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.665741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946226; longitude = -130.027474; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1362.628639; finalDepth = 1366.665741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1366.665741 # Seafloor depth:-1406.665741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.895453 meters # Minimum depth: 1402.628639 meters looking forward 0.000000 meters along route # Maximum depth: 1402.628639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.628639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945715; longitude = -130.027195; captureRadius = 10; duration = 100; initialDepth = 1363.989590; finalDepth = 1362.628639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.628639 # Seafloor depth:-1402.628639 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.895453 meters # Minimum depth: 1403.989590 meters looking forward 0.000000 meters along route # Maximum depth: 1403.989590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.989590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944873; longitude = -130.026736; captureRadius = 10; duration = 100; initialDepth = 1360.303282; finalDepth = 1363.989590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1363.98959 # Seafloor depth:-1403.989590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.895453 meters # Minimum depth: 1400.303282 meters looking forward 0.000000 meters along route # Maximum depth: 1400.303282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.303282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944018; longitude = -130.026270; captureRadius = 10; duration = 100; initialDepth = 1362.144723; finalDepth = 1360.303282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1360.303282 # Seafloor depth:-1400.303282 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.895453 meters # Minimum depth: 1402.144723 meters looking forward 0.000000 meters along route # Maximum depth: 1402.144723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.144723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943163; longitude = -130.025804; captureRadius = 10; duration = 100; initialDepth = 1359.553589; finalDepth = 1362.144723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.144723 # Seafloor depth:-1402.144723 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 44 # Segment length 100.895453 meters # Minimum depth: 1399.553589 meters looking forward 0.000000 meters along route # Maximum depth: 1399.553589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.553589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942282; longitude = -130.025324; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1362.091404; finalDepth = 1359.553589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1359.553589 # Seafloor depth:-1399.553589 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.895453 meters # Minimum depth: 1402.091404 meters looking forward 0.000000 meters along route # Maximum depth: 1402.091404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.091404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941454; longitude = -130.024786; captureRadius = 10; duration = 100; initialDepth = 1360.600444; finalDepth = 1362.091404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.091404 # Seafloor depth:-1402.091404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.895453 meters # Minimum depth: 1400.600444 meters looking forward 0.000000 meters along route # Maximum depth: 1400.600444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.600444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940598; longitude = -130.024229; captureRadius = 10; duration = 100; initialDepth = 1363.444300; finalDepth = 1360.600444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1360.600444 # Seafloor depth:-1400.600444 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.895453 meters # Minimum depth: 1403.444300 meters looking forward 0.000000 meters along route # Maximum depth: 1403.444300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.444300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939745; longitude = -130.023675; captureRadius = 10; duration = 100; initialDepth = 1362.541595; finalDepth = 1363.444300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1363.4443 # Seafloor depth:-1403.444300 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 100.895453 meters # Minimum depth: 1402.541595 meters looking forward 0.000000 meters along route # Maximum depth: 1402.541595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.541595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938907; longitude = -130.023131; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1362.033824; finalDepth = 1362.541595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.541595 # Seafloor depth:-1402.541595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.895453 meters # Minimum depth: 1402.033824 meters looking forward 0.000000 meters along route # Maximum depth: 1402.033824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.033824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938665; longitude = -130.022919; captureRadius = 10; duration = 100; initialDepth = 1369.097373; finalDepth = 1362.033824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1362.033824 # Seafloor depth:-1402.033824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.895453 meters # Minimum depth: 1409.097373 meters looking forward 0.000000 meters along route # Maximum depth: 1409.097373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.097373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937855; longitude = -130.022209; captureRadius = 10; duration = 100; initialDepth = 1372.310021; finalDepth = 1369.097373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1369.097373 # Seafloor depth:-1409.097373 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.895453 meters # Minimum depth: 1412.310021 meters looking forward 0.000000 meters along route # Maximum depth: 1412.310021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.310021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937071; longitude = -130.021521; captureRadius = 10; duration = 100; initialDepth = 1373.046844; finalDepth = 1372.310021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1372.310021 # Seafloor depth:-1412.310021 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 100.895453 meters # Minimum depth: 1413.046844 meters looking forward 0.000000 meters along route # Maximum depth: 1413.046844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.046844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936283; longitude = -130.020830; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1373.245500; finalDepth = 1373.046844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.046844 # Seafloor depth:-1413.046844 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.895453 meters # Minimum depth: 1413.245500 meters looking forward 0.000000 meters along route # Maximum depth: 1413.245500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.245500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935516; longitude = -130.020270; captureRadius = 10; duration = 100; initialDepth = 1373.809404; finalDepth = 1373.245500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.2455 # Seafloor depth:-1413.245500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.895453 meters # Minimum depth: 1413.809404 meters looking forward 0.000000 meters along route # Maximum depth: 1413.809404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.809404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934706; longitude = -130.019679; captureRadius = 10; duration = 100; initialDepth = 1376.676636; finalDepth = 1373.809404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1373.809404 # Seafloor depth:-1413.809404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 41 # Segment length 100.895453 meters # Minimum depth: 1416.676636 meters looking forward 0.000000 meters along route # Maximum depth: 1416.676636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.676636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933868; longitude = -130.019067; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1378.773188; finalDepth = 1376.676636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1376.676636 # Seafloor depth:-1416.676636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.895453 meters # Minimum depth: 1418.773188 meters looking forward 0.000000 meters along route # Maximum depth: 1418.773188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.773188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933627; longitude = -130.018922; captureRadius = 10; duration = 100; initialDepth = 1383.681758; finalDepth = 1378.773188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1378.773188 # Seafloor depth:-1418.773188 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.895453 meters # Minimum depth: 1423.681758 meters looking forward 0.000000 meters along route # Maximum depth: 1423.681758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.681758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932772; longitude = -130.018409; captureRadius = 10; duration = 100; initialDepth = 1387.134403; finalDepth = 1383.681758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1383.681758 # Seafloor depth:-1423.681758 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.895453 meters # Minimum depth: 1427.134403 meters looking forward 0.000000 meters along route # Maximum depth: 1427.134403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.134403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931941; longitude = -130.017911; captureRadius = 10; duration = 100; initialDepth = 1390.004456; finalDepth = 1387.134403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1387.134403 # Seafloor depth:-1427.134403 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 100.895453 meters # Minimum depth: 1430.004456 meters looking forward 0.000000 meters along route # Maximum depth: 1430.004456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.004456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931109; longitude = -130.017411; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1392.845615; finalDepth = 1390.004456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1390.004456 # Seafloor depth:-1430.004456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.895453 meters # Minimum depth: 1432.845615 meters looking forward 0.000000 meters along route # Maximum depth: 1432.845615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1392.845615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930506; longitude = -130.016943; captureRadius = 10; duration = 100; initialDepth = 1396.023316; finalDepth = 1392.845615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1392.845615 # Seafloor depth:-1432.845615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.895453 meters # Minimum depth: 1436.023316 meters looking forward 0.000000 meters along route # Maximum depth: 1436.023316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1396.023316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929713; longitude = -130.016328; captureRadius = 10; duration = 100; initialDepth = 1403.972626; finalDepth = 1396.023316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1396.023316 # Seafloor depth:-1436.023316 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 100.895453 meters # Minimum depth: 1443.972626 meters looking forward 0.000000 meters along route # Maximum depth: 1443.972626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1403.972626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928919; longitude = -130.015712; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1407.672073; finalDepth = 1403.972626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1403.972626 # Seafloor depth:-1443.972626 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.895453 meters # Minimum depth: 1447.672073 meters looking forward 0.000000 meters along route # Maximum depth: 1447.672073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.672073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928237; longitude = -130.015073; captureRadius = 10; duration = 100; initialDepth = 1415.034760; finalDepth = 1407.672073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1407.672073 # Seafloor depth:-1447.672073 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.895453 meters # Minimum depth: 1455.034760 meters looking forward 0.000000 meters along route # Maximum depth: 1455.034760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1415.034760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927480; longitude = -130.014364; captureRadius = 10; duration = 100; initialDepth = 1422.535278; finalDepth = 1415.034760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1415.03476 # Seafloor depth:-1455.034760 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 100.895453 meters # Minimum depth: 1462.535278 meters looking forward 0.000000 meters along route # Maximum depth: 1462.535278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.535278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926715; longitude = -130.013648; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1423.087117; finalDepth = 1422.535278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1422.535278 # Seafloor depth:-1462.535278 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.895453 meters # Minimum depth: 1463.087117 meters looking forward 0.000000 meters along route # Maximum depth: 1463.087117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1423.087117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926609; longitude = -130.013553; captureRadius = 10; duration = 100; initialDepth = 1433.288165; finalDepth = 1423.087117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1423.087117 # Seafloor depth:-1463.087117 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.895453 meters # Minimum depth: 1473.288165 meters looking forward 0.000000 meters along route # Maximum depth: 1473.288165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1433.288165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925844; longitude = -130.012866; captureRadius = 10; duration = 100; initialDepth = 1443.860915; finalDepth = 1433.288165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1433.288165 # Seafloor depth:-1473.288165 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.895453 meters # Minimum depth: 1483.860915 meters looking forward 0.000000 meters along route # Maximum depth: 1483.860915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.860915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925080; longitude = -130.012180; captureRadius = 10; duration = 100; initialDepth = 1452.858979; finalDepth = 1443.860915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1443.860915 # Seafloor depth:-1483.860915 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.895453 meters # Minimum depth: 1492.858979 meters looking forward 0.000000 meters along route # Maximum depth: 1492.858979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.858979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924315; longitude = -130.011493; captureRadius = 10; duration = 100; initialDepth = 1456.342020; finalDepth = 1452.858979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.858979 # Seafloor depth:-1492.858979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.895453 meters # Minimum depth: 1496.342020 meters looking forward 0.000000 meters along route # Maximum depth: 1496.342020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.342020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923550; longitude = -130.010807; captureRadius = 10; duration = 100; initialDepth = 1461.228516; finalDepth = 1456.342020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.34202 # Seafloor depth:-1496.342020 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 100.895453 meters # Minimum depth: 1501.228516 meters looking forward 0.000000 meters along route # Maximum depth: 1501.228516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.228516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922786; longitude = -130.010121; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1461.063120; finalDepth = 1461.228516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.228516 # Seafloor depth:-1501.228516 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.895453 meters # Minimum depth: 1501.063120 meters looking forward 0.000000 meters along route # Maximum depth: 1501.063120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.063120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922650; longitude = -130.009910; captureRadius = 10; duration = 100; initialDepth = 1469.238000; finalDepth = 1461.063120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.06312 # Seafloor depth:-1501.063120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.895453 meters # Minimum depth: 1509.238000 meters looking forward 0.000000 meters along route # Maximum depth: 1509.238000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.238000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922033; longitude = -130.008948; captureRadius = 10; duration = 100; initialDepth = 1476.165563; finalDepth = 1469.238000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.238 # Seafloor depth:-1509.238000 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.895453 meters # Minimum depth: 1516.165563 meters looking forward 0.000000 meters along route # Maximum depth: 1516.165563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.165563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921412; longitude = -130.007981; captureRadius = 10; duration = 100; initialDepth = 1481.705569; finalDepth = 1476.165563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.165563 # Seafloor depth:-1516.165563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.895453 meters # Minimum depth: 1521.705569 meters looking forward 0.000000 meters along route # Maximum depth: 1521.705569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.705569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920790; longitude = -130.007014; captureRadius = 10; duration = 100; initialDepth = 1487.350281; finalDepth = 1481.705569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.705569 # Seafloor depth:-1521.705569 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 100.895453 meters # Minimum depth: 1527.350281 meters looking forward 0.000000 meters along route # Maximum depth: 1527.350281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.350281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920176; longitude = -130.006057; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1490.128060; finalDepth = 1487.350281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.350281 # Seafloor depth:-1527.350281 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.895453 meters # Minimum depth: 1530.128060 meters looking forward 0.000000 meters along route # Maximum depth: 1530.128060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.128060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920112; longitude = -130.005595; captureRadius = 10; duration = 100; initialDepth = 1496.465662; finalDepth = 1490.128060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.12806 # Seafloor depth:-1530.128060 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.895453 meters # Minimum depth: 1536.465662 meters looking forward 0.000000 meters along route # Maximum depth: 1536.465662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.465662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919932; longitude = -130.004306; captureRadius = 10; duration = 100; initialDepth = 1502.545349; finalDepth = 1496.465662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.465662 # Seafloor depth:-1536.465662 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 100.895453 meters # Minimum depth: 1542.545349 meters looking forward 0.000000 meters along route # Maximum depth: 1542.545349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.545349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919756; longitude = -130.003037; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1503.695836; finalDepth = 1502.545349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.545349 # Seafloor depth:-1542.545349 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1543.695836 meters looking forward 0.000000 meters along route # Maximum depth: 1543.695836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.695836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920086; longitude = -130.003246; captureRadius = 10; duration = 100; initialDepth = 1503.279397; finalDepth = 1503.695836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.695836 # Seafloor depth:-1543.695836 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1543.279397 meters looking forward 0.000000 meters along route # Maximum depth: 1543.279397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.279397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920944; longitude = -130.003790; captureRadius = 10; duration = 100; initialDepth = 1500.549927; finalDepth = 1503.279397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.279397 # Seafloor depth:-1543.279397 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1540.549927 meters looking forward 0.000000 meters along route # Maximum depth: 1540.549927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.549927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921796; longitude = -130.004329; captureRadius = 10; duration = 100; initialDepth = 1501.373906; finalDepth = 1500.549927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.549927 # Seafloor depth:-1540.549927 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1541.373906 meters looking forward 0.000000 meters along route # Maximum depth: 1541.373906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.373906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922650; longitude = -130.004871; captureRadius = 10; duration = 100; initialDepth = 1502.274779; finalDepth = 1501.373906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.373906 # Seafloor depth:-1541.373906 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1542.274779 meters looking forward 0.000000 meters along route # Maximum depth: 1542.274779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.274779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923489; longitude = -130.005402; captureRadius = 10; duration = 100; initialDepth = 1500.210314; finalDepth = 1502.274779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.274779 # Seafloor depth:-1542.274779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1540.210314 meters looking forward 0.000000 meters along route # Maximum depth: 1540.210314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.210314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924315; longitude = -130.005925; captureRadius = 10; duration = 100; initialDepth = 1502.447510; finalDepth = 1500.210314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.210314 # Seafloor depth:-1540.210314 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1542.447510 meters looking forward 0.000000 meters along route # Maximum depth: 1542.447510 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.447510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925169; longitude = -130.006466; captureRadius = 10; duration = 100; initialDepth = 1502.680378; finalDepth = 1502.447510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.44751 # Seafloor depth:-1542.447510 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1542.680378 meters looking forward 0.000000 meters along route # Maximum depth: 1542.680378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.680378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926024; longitude = -130.007008; captureRadius = 10; duration = 100; initialDepth = 1502.385960; finalDepth = 1502.680378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.680378 # Seafloor depth:-1542.680378 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1542.385960 meters looking forward 0.000000 meters along route # Maximum depth: 1542.385960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.385960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926848; longitude = -130.007529; captureRadius = 10; duration = 100; initialDepth = 1502.420388; finalDepth = 1502.385960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.38596 # Seafloor depth:-1542.385960 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1542.420388 meters looking forward 0.000000 meters along route # Maximum depth: 1542.420388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.420388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927689; longitude = -130.008062; captureRadius = 10; duration = 100; initialDepth = 1502.525301; finalDepth = 1502.420388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.420388 # Seafloor depth:-1542.420388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1542.525301 meters looking forward 0.000000 meters along route # Maximum depth: 1542.525301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.525301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928543; longitude = -130.008604; captureRadius = 10; duration = 100; initialDepth = 1502.661946; finalDepth = 1502.525301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.525301 # Seafloor depth:-1542.525301 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1542.661946 meters looking forward 0.000000 meters along route # Maximum depth: 1542.661946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.661946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929398; longitude = -130.009145; captureRadius = 10; duration = 100; initialDepth = 1503.508624; finalDepth = 1502.661946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.661946 # Seafloor depth:-1542.661946 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1543.508624 meters looking forward 0.000000 meters along route # Maximum depth: 1543.508624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.508624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930253; longitude = -130.009687; captureRadius = 10; duration = 100; initialDepth = 1505.677491; finalDepth = 1503.508624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.508624 # Seafloor depth:-1543.508624 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1545.677491 meters looking forward 0.000000 meters along route # Maximum depth: 1545.677491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.677491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931107; longitude = -130.010228; captureRadius = 10; duration = 100; initialDepth = 1505.665087; finalDepth = 1505.677491; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.677491 # Seafloor depth:-1545.677491 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1545.665087 meters looking forward 0.000000 meters along route # Maximum depth: 1545.665087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.665087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931937; longitude = -130.010753; captureRadius = 10; duration = 100; initialDepth = 1503.740260; finalDepth = 1505.665087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.665087 # Seafloor depth:-1545.665087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1543.740260 meters looking forward 0.000000 meters along route # Maximum depth: 1543.740260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.740260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932772; longitude = -130.011283; captureRadius = 10; duration = 100; initialDepth = 1503.015321; finalDepth = 1503.740260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.74026 # Seafloor depth:-1543.740260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1543.015321 meters looking forward 0.000000 meters along route # Maximum depth: 1543.015321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.015321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933627; longitude = -130.011824; captureRadius = 10; duration = 100; initialDepth = 1503.524448; finalDepth = 1503.015321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.015321 # Seafloor depth:-1543.015321 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1543.524448 meters looking forward 0.000000 meters along route # Maximum depth: 1543.524448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.524448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934481; longitude = -130.012365; captureRadius = 10; duration = 100; initialDepth = 1503.601459; finalDepth = 1503.524448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.524448 # Seafloor depth:-1543.524448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1543.601459 meters looking forward 0.000000 meters along route # Maximum depth: 1543.601459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.601459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935336; longitude = -130.012907; captureRadius = 10; duration = 100; initialDepth = 1506.952899; finalDepth = 1503.601459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.601459 # Seafloor depth:-1543.601459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1546.952899 meters looking forward 0.000000 meters along route # Maximum depth: 1546.952899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.952899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936191; longitude = -130.013448; captureRadius = 10; duration = 100; initialDepth = 1511.616101; finalDepth = 1506.952899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.952899 # Seafloor depth:-1546.952899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1551.616101 meters looking forward 0.000000 meters along route # Maximum depth: 1551.616101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.616101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937026; longitude = -130.013977; captureRadius = 10; duration = 100; initialDepth = 1511.308383; finalDepth = 1511.616101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.616101 # Seafloor depth:-1551.616101 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1551.308383 meters looking forward 0.000000 meters along route # Maximum depth: 1551.308383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.308383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937855; longitude = -130.014503; captureRadius = 10; duration = 100; initialDepth = 1510.601646; finalDepth = 1511.308383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.308383 # Seafloor depth:-1551.308383 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1550.601646 meters looking forward 0.000000 meters along route # Maximum depth: 1550.601646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.601646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938710; longitude = -130.015044; captureRadius = 10; duration = 100; initialDepth = 1509.097487; finalDepth = 1510.601646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.601646 # Seafloor depth:-1550.601646 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1549.097487 meters looking forward 0.000000 meters along route # Maximum depth: 1549.097487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.097487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939570; longitude = -130.015589; captureRadius = 10; duration = 100; initialDepth = 1507.554124; finalDepth = 1509.097487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.097487 # Seafloor depth:-1549.097487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1547.554124 meters looking forward 0.000000 meters along route # Maximum depth: 1547.554124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.554124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940419; longitude = -130.016127; captureRadius = 10; duration = 100; initialDepth = 1508.655079; finalDepth = 1507.554124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.554124 # Seafloor depth:-1547.554124 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1548.655079 meters looking forward 0.000000 meters along route # Maximum depth: 1548.655079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.655079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941274; longitude = -130.016669; captureRadius = 10; duration = 100; initialDepth = 1508.578372; finalDepth = 1508.655079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.655079 # Seafloor depth:-1548.655079 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1548.578372 meters looking forward 0.000000 meters along route # Maximum depth: 1548.578372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.578372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942115; longitude = -130.017201; captureRadius = 10; duration = 100; initialDepth = 1508.491079; finalDepth = 1508.578372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.578372 # Seafloor depth:-1548.578372 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1548.491079 meters looking forward 0.000000 meters along route # Maximum depth: 1548.491079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.491079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942938; longitude = -130.017723; captureRadius = 10; duration = 100; initialDepth = 1507.285166; finalDepth = 1508.491079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.491079 # Seafloor depth:-1548.491079 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1547.285166 meters looking forward 0.000000 meters along route # Maximum depth: 1547.285166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.285166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943793; longitude = -130.018264; captureRadius = 10; duration = 100; initialDepth = 1510.243110; finalDepth = 1507.285166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.285166 # Seafloor depth:-1547.285166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1550.243110 meters looking forward 0.000000 meters along route # Maximum depth: 1550.243110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.243110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944659; longitude = -130.018813; captureRadius = 10; duration = 100; initialDepth = 1509.885273; finalDepth = 1510.243110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.24311 # Seafloor depth:-1550.243110 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1549.885273 meters looking forward 0.000000 meters along route # Maximum depth: 1549.885273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.885273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945503; longitude = -130.019347; captureRadius = 10; duration = 100; initialDepth = 1509.752397; finalDepth = 1509.885273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.885273 # Seafloor depth:-1549.885273 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1549.752397 meters looking forward 0.000000 meters along route # Maximum depth: 1549.752397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.752397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946357; longitude = -130.019889; captureRadius = 10; duration = 100; initialDepth = 1510.289165; finalDepth = 1509.752397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.752397 # Seafloor depth:-1549.752397 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1550.289165 meters looking forward 0.000000 meters along route # Maximum depth: 1550.289165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.289165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947212; longitude = -130.020430; captureRadius = 10; duration = 100; initialDepth = 1509.879382; finalDepth = 1510.289165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.289165 # Seafloor depth:-1550.289165 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1549.879382 meters looking forward 0.000000 meters along route # Maximum depth: 1549.879382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.879382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948067; longitude = -130.020972; captureRadius = 10; duration = 100; initialDepth = 1511.992649; finalDepth = 1509.879382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.879382 # Seafloor depth:-1549.879382 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1551.992649 meters looking forward 0.000000 meters along route # Maximum depth: 1551.992649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.992649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948921; longitude = -130.021513; captureRadius = 10; duration = 100; initialDepth = 1513.354814; finalDepth = 1511.992649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.992649 # Seafloor depth:-1551.992649 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1553.354814 meters looking forward 0.000000 meters along route # Maximum depth: 1553.354814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.354814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949749; longitude = -130.022037; captureRadius = 10; duration = 100; initialDepth = 1511.210168; finalDepth = 1513.354814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.354814 # Seafloor depth:-1553.354814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1551.210168 meters looking forward 0.000000 meters along route # Maximum depth: 1551.210168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.210168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950586; longitude = -130.022568; captureRadius = 10; duration = 100; initialDepth = 1511.734308; finalDepth = 1511.210168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.210168 # Seafloor depth:-1551.210168 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1551.734308 meters looking forward 0.000000 meters along route # Maximum depth: 1551.734308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.734308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951441; longitude = -130.023109; captureRadius = 10; duration = 100; initialDepth = 1510.056553; finalDepth = 1511.734308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.734308 # Seafloor depth:-1551.734308 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1550.056553 meters looking forward 0.000000 meters along route # Maximum depth: 1550.056553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.056553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952295; longitude = -130.023650; captureRadius = 10; duration = 100; initialDepth = 1511.123631; finalDepth = 1510.056553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.056553 # Seafloor depth:-1550.056553 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1551.123631 meters looking forward 0.000000 meters along route # Maximum depth: 1551.123631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.123631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953150; longitude = -130.024192; captureRadius = 10; duration = 100; initialDepth = 1512.194112; finalDepth = 1511.123631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.123631 # Seafloor depth:-1551.123631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1552.194112 meters looking forward 0.000000 meters along route # Maximum depth: 1552.194112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.194112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954005; longitude = -130.024733; captureRadius = 10; duration = 100; initialDepth = 1512.929862; finalDepth = 1512.194112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.194112 # Seafloor depth:-1552.194112 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1552.929862 meters looking forward 0.000000 meters along route # Maximum depth: 1552.929862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.929862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954838; longitude = -130.025261; captureRadius = 10; duration = 100; initialDepth = 1515.139698; finalDepth = 1512.929862; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.929862 # Seafloor depth:-1552.929862 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1555.139698 meters looking forward 0.000000 meters along route # Maximum depth: 1555.139698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.139698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955669; longitude = -130.025788; captureRadius = 10; duration = 100; initialDepth = 1516.044562; finalDepth = 1515.139698; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.139698 # Seafloor depth:-1555.139698 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.895453 meters # Minimum depth: 1556.044562 meters looking forward 0.000000 meters along route # Maximum depth: 1556.044562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.044562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956524; longitude = -130.026329; captureRadius = 10; duration = 100; initialDepth = 1523.117188; finalDepth = 1516.044562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.044562 # Seafloor depth:-1556.044562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 100.895453 meters # Minimum depth: 1563.117188 meters looking forward 0.000000 meters along route # Maximum depth: 1563.117188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.117188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957349; longitude = -130.026852; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1524.749370; finalDepth = 1523.117188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.117188 # Seafloor depth:-1563.117188 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.895453 meters # Minimum depth: 1564.749370 meters looking forward 0.000000 meters along route # Maximum depth: 1564.749370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.749370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957649; longitude = -130.025906; captureRadius = 10; duration = 100; initialDepth = 1527.598511; finalDepth = 1524.749370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.74937 # Seafloor depth:-1564.749370 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 100.895453 meters # Minimum depth: 1567.598511 meters looking forward 0.000000 meters along route # Maximum depth: 1567.598511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.598511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958023; longitude = -130.024724; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1526.865708; finalDepth = 1527.598511; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.598511 # Seafloor depth:-1567.598511 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1566.865708 meters looking forward 0.000000 meters along route # Maximum depth: 1566.865708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.865708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957963; longitude = -130.024686; captureRadius = 10; duration = 100; initialDepth = 1522.799323; finalDepth = 1526.865708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1526.865708 # Seafloor depth:-1566.865708 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1562.799323 meters looking forward 0.000000 meters along route # Maximum depth: 1562.799323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.799323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957139; longitude = -130.024165; captureRadius = 10; duration = 100; initialDepth = 1521.740227; finalDepth = 1522.799323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.799323 # Seafloor depth:-1562.799323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1561.740227 meters looking forward 0.000000 meters along route # Maximum depth: 1561.740227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.740227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956299; longitude = -130.023634; captureRadius = 10; duration = 100; initialDepth = 1520.315693; finalDepth = 1521.740227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.740227 # Seafloor depth:-1561.740227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1560.315693 meters looking forward 0.000000 meters along route # Maximum depth: 1560.315693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.315693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955444; longitude = -130.023093; captureRadius = 10; duration = 100; initialDepth = 1517.847384; finalDepth = 1520.315693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.315693 # Seafloor depth:-1560.315693 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1557.847384 meters looking forward 0.000000 meters along route # Maximum depth: 1557.847384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.847384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954589; longitude = -130.022552; captureRadius = 10; duration = 100; initialDepth = 1515.385545; finalDepth = 1517.847384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.847384 # Seafloor depth:-1557.847384 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1555.385545 meters looking forward 0.000000 meters along route # Maximum depth: 1555.385545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.385545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953735; longitude = -130.022012; captureRadius = 10; duration = 100; initialDepth = 1517.199972; finalDepth = 1515.385545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.385545 # Seafloor depth:-1555.385545 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1557.199972 meters looking forward 0.000000 meters along route # Maximum depth: 1557.199972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.199972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952880; longitude = -130.021471; captureRadius = 10; duration = 100; initialDepth = 1512.675813; finalDepth = 1517.199972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.199972 # Seafloor depth:-1557.199972 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1552.675813 meters looking forward 0.000000 meters along route # Maximum depth: 1552.675813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.675813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952042; longitude = -130.020941; captureRadius = 10; duration = 100; initialDepth = 1510.836664; finalDepth = 1512.675813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.675813 # Seafloor depth:-1552.675813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1550.836664 meters looking forward 0.000000 meters along route # Maximum depth: 1550.836664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.836664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951216; longitude = -130.020418; captureRadius = 10; duration = 100; initialDepth = 1510.771558; finalDepth = 1510.836664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.836664 # Seafloor depth:-1550.836664 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1550.771558 meters looking forward 0.000000 meters along route # Maximum depth: 1550.771558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.771558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950361; longitude = -130.019878; captureRadius = 10; duration = 100; initialDepth = 1510.397918; finalDepth = 1510.771558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.771558 # Seafloor depth:-1550.771558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1550.397918 meters looking forward 0.000000 meters along route # Maximum depth: 1550.397918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.397918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949493; longitude = -130.019329; captureRadius = 10; duration = 100; initialDepth = 1511.752118; finalDepth = 1510.397918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.397918 # Seafloor depth:-1550.397918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1551.752118 meters looking forward 0.000000 meters along route # Maximum depth: 1551.752118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.752118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948652; longitude = -130.018797; captureRadius = 10; duration = 100; initialDepth = 1512.086069; finalDepth = 1511.752118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.752118 # Seafloor depth:-1551.752118 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1552.086069 meters looking forward 0.000000 meters along route # Maximum depth: 1552.086069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.086069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947797; longitude = -130.018256; captureRadius = 10; duration = 100; initialDepth = 1510.669722; finalDepth = 1512.086069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.086069 # Seafloor depth:-1552.086069 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1550.669722 meters looking forward 0.000000 meters along route # Maximum depth: 1550.669722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.669722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946942; longitude = -130.017715; captureRadius = 10; duration = 100; initialDepth = 1510.827323; finalDepth = 1510.669722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.669722 # Seafloor depth:-1550.669722 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1550.827323 meters looking forward 0.000000 meters along route # Maximum depth: 1550.827323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.827323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946087; longitude = -130.017175; captureRadius = 10; duration = 100; initialDepth = 1509.121553; finalDepth = 1510.827323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.827323 # Seafloor depth:-1550.827323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.121553 meters looking forward 0.000000 meters along route # Maximum depth: 1549.121553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.121553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945233; longitude = -130.016634; captureRadius = 10; duration = 100; initialDepth = 1508.184638; finalDepth = 1509.121553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.121553 # Seafloor depth:-1549.121553 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1548.184638 meters looking forward 0.000000 meters along route # Maximum depth: 1548.184638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.184638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944396; longitude = -130.016105; captureRadius = 10; duration = 100; initialDepth = 1509.184856; finalDepth = 1508.184638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.184638 # Seafloor depth:-1548.184638 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.184856 meters looking forward 0.000000 meters along route # Maximum depth: 1549.184856 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.184856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943568; longitude = -130.015581; captureRadius = 10; duration = 100; initialDepth = 1509.240503; finalDepth = 1509.184856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.184856 # Seafloor depth:-1549.184856 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.240503 meters looking forward 0.000000 meters along route # Maximum depth: 1549.240503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.240503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942714; longitude = -130.015041; captureRadius = 10; duration = 100; initialDepth = 1509.515809; finalDepth = 1509.240503; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.240503 # Seafloor depth:-1549.240503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.515809 meters looking forward 0.000000 meters along route # Maximum depth: 1549.515809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.515809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941848; longitude = -130.014493; captureRadius = 10; duration = 100; initialDepth = 1506.906323; finalDepth = 1509.515809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.515809 # Seafloor depth:-1549.515809 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1546.906323 meters looking forward 0.000000 meters along route # Maximum depth: 1546.906323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.906323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941004; longitude = -130.013960; captureRadius = 10; duration = 100; initialDepth = 1510.085458; finalDepth = 1506.906323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.906323 # Seafloor depth:-1546.906323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1550.085458 meters looking forward 0.000000 meters along route # Maximum depth: 1550.085458 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.085458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940149; longitude = -130.013419; captureRadius = 10; duration = 100; initialDepth = 1509.786473; finalDepth = 1510.085458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.085458 # Seafloor depth:-1550.085458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.786473 meters looking forward 0.000000 meters along route # Maximum depth: 1549.786473 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.786473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939295; longitude = -130.012878; captureRadius = 10; duration = 100; initialDepth = 1508.664930; finalDepth = 1509.786473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.786473 # Seafloor depth:-1549.786473 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1548.664930 meters looking forward 0.000000 meters along route # Maximum depth: 1548.664930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.664930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938440; longitude = -130.012338; captureRadius = 10; duration = 100; initialDepth = 1509.042627; finalDepth = 1508.664930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.66493 # Seafloor depth:-1548.664930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.042627 meters looking forward 0.000000 meters along route # Maximum depth: 1549.042627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.042627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937585; longitude = -130.011797; captureRadius = 10; duration = 100; initialDepth = 1503.708365; finalDepth = 1509.042627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.042627 # Seafloor depth:-1549.042627 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1543.708365 meters looking forward 0.000000 meters along route # Maximum depth: 1543.708365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.708365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936750; longitude = -130.011269; captureRadius = 10; duration = 100; initialDepth = 1503.090938; finalDepth = 1503.708365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.708365 # Seafloor depth:-1543.708365 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1543.090938 meters looking forward 0.000000 meters along route # Maximum depth: 1543.090938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.090938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935921; longitude = -130.010745; captureRadius = 10; duration = 100; initialDepth = 1505.803106; finalDepth = 1503.090938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.090938 # Seafloor depth:-1543.090938 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1545.803106 meters looking forward 0.000000 meters along route # Maximum depth: 1545.803106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.803106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935066; longitude = -130.010204; captureRadius = 10; duration = 100; initialDepth = 1507.974642; finalDepth = 1505.803106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.803106 # Seafloor depth:-1545.803106 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1547.974642 meters looking forward 0.000000 meters along route # Maximum depth: 1547.974642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.974642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934211; longitude = -130.009663; captureRadius = 10; duration = 100; initialDepth = 1508.902850; finalDepth = 1507.974642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.974642 # Seafloor depth:-1547.974642 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1548.902850 meters looking forward 0.000000 meters along route # Maximum depth: 1548.902850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.902850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933386; longitude = -130.009141; captureRadius = 10; duration = 100; initialDepth = 1508.540894; finalDepth = 1508.902850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.90285 # Seafloor depth:-1548.902850 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1548.540894 meters looking forward 0.000000 meters along route # Maximum depth: 1548.540894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.540894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932547; longitude = -130.008611; captureRadius = 10; duration = 100; initialDepth = 1509.084268; finalDepth = 1508.540894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.540894 # Seafloor depth:-1548.540894 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.084268 meters looking forward 0.000000 meters along route # Maximum depth: 1549.084268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.084268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931692; longitude = -130.008070; captureRadius = 10; duration = 100; initialDepth = 1509.015090; finalDepth = 1509.084268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.084268 # Seafloor depth:-1549.084268 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1549.015090 meters looking forward 0.000000 meters along route # Maximum depth: 1549.015090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.015090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930838; longitude = -130.007529; captureRadius = 10; duration = 100; initialDepth = 1507.631917; finalDepth = 1509.015090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.01509 # Seafloor depth:-1549.015090 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1547.631917 meters looking forward 0.000000 meters along route # Maximum depth: 1547.631917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.631917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929983; longitude = -130.006989; captureRadius = 10; duration = 100; initialDepth = 1506.806864; finalDepth = 1507.631917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.631917 # Seafloor depth:-1547.631917 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1546.806864 meters looking forward 0.000000 meters along route # Maximum depth: 1546.806864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.806864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929128; longitude = -130.006448; captureRadius = 10; duration = 100; initialDepth = 1504.995635; finalDepth = 1506.806864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.806864 # Seafloor depth:-1546.806864 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1544.995635 meters looking forward 0.000000 meters along route # Maximum depth: 1544.995635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.995635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928289; longitude = -130.005918; captureRadius = 10; duration = 100; initialDepth = 1504.988300; finalDepth = 1504.995635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.995635 # Seafloor depth:-1544.995635 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1544.988300 meters looking forward 0.000000 meters along route # Maximum depth: 1544.988300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.988300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927464; longitude = -130.005395; captureRadius = 10; duration = 100; initialDepth = 1505.899767; finalDepth = 1504.988300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.9883 # Seafloor depth:-1544.988300 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1545.899767 meters looking forward 0.000000 meters along route # Maximum depth: 1545.899767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.899767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926609; longitude = -130.004855; captureRadius = 10; duration = 100; initialDepth = 1506.037715; finalDepth = 1505.899767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.899767 # Seafloor depth:-1545.899767 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1546.037715 meters looking forward 0.000000 meters along route # Maximum depth: 1546.037715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.037715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925754; longitude = -130.004314; captureRadius = 10; duration = 100; initialDepth = 1505.273869; finalDepth = 1506.037715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.037715 # Seafloor depth:-1546.037715 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1545.273869 meters looking forward 0.000000 meters along route # Maximum depth: 1545.273869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.273869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924925; longitude = -130.003790; captureRadius = 10; duration = 100; initialDepth = 1506.440266; finalDepth = 1505.273869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.273869 # Seafloor depth:-1545.273869 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1546.440266 meters looking forward 0.000000 meters along route # Maximum depth: 1546.440266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.440266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924090; longitude = -130.003261; captureRadius = 10; duration = 100; initialDepth = 1500.782814; finalDepth = 1506.440266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.440266 # Seafloor depth:-1546.440266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.895453 meters # Minimum depth: 1540.782814 meters looking forward 0.000000 meters along route # Maximum depth: 1540.782814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.782814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923235; longitude = -130.002721; captureRadius = 10; duration = 100; initialDepth = 1500.712311; finalDepth = 1500.782814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.782814 # Seafloor depth:-1540.782814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 100.895453 meters # Minimum depth: 1540.712311 meters looking forward 0.000000 meters along route # Maximum depth: 1540.712311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.712311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922410; longitude = -130.002199; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1502.077686; finalDepth = 1500.712311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.712311 # Seafloor depth:-1540.712311 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.895453 meters # Minimum depth: 1542.077686 meters looking forward 0.000000 meters along route # Maximum depth: 1542.077686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.077686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922423; longitude = -130.001146; captureRadius = 10; duration = 100; initialDepth = 1501.777283; finalDepth = 1502.077686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.077686 # Seafloor depth:-1542.077686 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 100.895453 meters # Minimum depth: 1541.777283 meters looking forward 0.000000 meters along route # Maximum depth: 1541.777283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.777283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922440; longitude = -129.999835; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1500.569786; finalDepth = 1501.777283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.777283 # Seafloor depth:-1541.777283 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1540.569786 meters looking forward 0.000000 meters along route # Maximum depth: 1540.569786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.569786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923083; longitude = -130.000243; captureRadius = 10; duration = 100; initialDepth = 1502.925853; finalDepth = 1500.569786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.569786 # Seafloor depth:-1540.569786 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1542.925853 meters looking forward 0.000000 meters along route # Maximum depth: 1542.925853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.925853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923910; longitude = -130.000768; captureRadius = 10; duration = 100; initialDepth = 1503.599899; finalDepth = 1502.925853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.925853 # Seafloor depth:-1542.925853 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1543.599899 meters looking forward 0.000000 meters along route # Maximum depth: 1543.599899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.599899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924765; longitude = -130.001311; captureRadius = 10; duration = 100; initialDepth = 1504.659745; finalDepth = 1503.599899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.599899 # Seafloor depth:-1543.599899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1544.659745 meters looking forward 0.000000 meters along route # Maximum depth: 1544.659745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.659745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925623; longitude = -130.001855; captureRadius = 10; duration = 100; initialDepth = 1504.158146; finalDepth = 1504.659745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.659745 # Seafloor depth:-1544.659745 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1544.158146 meters looking forward 0.000000 meters along route # Maximum depth: 1544.158146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.158146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926474; longitude = -130.002396; captureRadius = 10; duration = 100; initialDepth = 1505.550781; finalDepth = 1504.158146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.158146 # Seafloor depth:-1544.158146 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1545.550781 meters looking forward 0.000000 meters along route # Maximum depth: 1545.550781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.550781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927329; longitude = -130.002938; captureRadius = 10; duration = 100; initialDepth = 1503.628076; finalDepth = 1505.550781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.550781 # Seafloor depth:-1545.550781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1543.628076 meters looking forward 0.000000 meters along route # Maximum depth: 1543.628076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.628076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928162; longitude = -130.003467; captureRadius = 10; duration = 100; initialDepth = 1503.389232; finalDepth = 1503.628076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.628076 # Seafloor depth:-1543.628076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1543.389232 meters looking forward 0.000000 meters along route # Maximum depth: 1543.389232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.389232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928993; longitude = -130.003995; captureRadius = 10; duration = 100; initialDepth = 1504.647159; finalDepth = 1503.389232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.389232 # Seafloor depth:-1543.389232 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1544.647159 meters looking forward 0.000000 meters along route # Maximum depth: 1544.647159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.647159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929848; longitude = -130.004537; captureRadius = 10; duration = 100; initialDepth = 1509.685374; finalDepth = 1504.647159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.647159 # Seafloor depth:-1544.647159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.685374 meters looking forward 0.000000 meters along route # Maximum depth: 1549.685374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.685374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930703; longitude = -130.005080; captureRadius = 10; duration = 100; initialDepth = 1510.577453; finalDepth = 1509.685374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.685374 # Seafloor depth:-1549.685374 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1550.577453 meters looking forward 0.000000 meters along route # Maximum depth: 1550.577453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.577453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931557; longitude = -130.005623; captureRadius = 10; duration = 100; initialDepth = 1509.884817; finalDepth = 1510.577453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.577453 # Seafloor depth:-1550.577453 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.884817 meters looking forward 0.000000 meters along route # Maximum depth: 1549.884817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.884817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932412; longitude = -130.006165; captureRadius = 10; duration = 100; initialDepth = 1509.426395; finalDepth = 1509.884817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.884817 # Seafloor depth:-1549.884817 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.426395 meters looking forward 0.000000 meters along route # Maximum depth: 1549.426395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.426395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933241; longitude = -130.006691; captureRadius = 10; duration = 100; initialDepth = 1509.273865; finalDepth = 1509.426395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.426395 # Seafloor depth:-1549.426395 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.273865 meters looking forward 0.000000 meters along route # Maximum depth: 1549.273865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.273865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934076; longitude = -130.007222; captureRadius = 10; duration = 100; initialDepth = 1509.576254; finalDepth = 1509.273865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.273865 # Seafloor depth:-1549.273865 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.576254 meters looking forward 0.000000 meters along route # Maximum depth: 1549.576254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.576254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934931; longitude = -130.007764; captureRadius = 10; duration = 100; initialDepth = 1508.451580; finalDepth = 1509.576254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.576254 # Seafloor depth:-1549.576254 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1548.451580 meters looking forward 0.000000 meters along route # Maximum depth: 1548.451580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.451580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935786; longitude = -130.008307; captureRadius = 10; duration = 100; initialDepth = 1503.568978; finalDepth = 1508.451580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.45158 # Seafloor depth:-1548.451580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1543.568978 meters looking forward 0.000000 meters along route # Maximum depth: 1543.568978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.568978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936641; longitude = -130.008849; captureRadius = 10; duration = 100; initialDepth = 1506.939728; finalDepth = 1503.568978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.568978 # Seafloor depth:-1543.568978 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1546.939728 meters looking forward 0.000000 meters along route # Maximum depth: 1546.939728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.939728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937495; longitude = -130.009392; captureRadius = 10; duration = 100; initialDepth = 1507.499539; finalDepth = 1506.939728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.939728 # Seafloor depth:-1546.939728 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1547.499539 meters looking forward 0.000000 meters along route # Maximum depth: 1547.499539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.499539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938320; longitude = -130.009915; captureRadius = 10; duration = 100; initialDepth = 1505.873952; finalDepth = 1507.499539; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.499539 # Seafloor depth:-1547.499539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1545.873952 meters looking forward 0.000000 meters along route # Maximum depth: 1545.873952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.873952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939160; longitude = -130.010448; captureRadius = 10; duration = 100; initialDepth = 1506.641251; finalDepth = 1505.873952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.873952 # Seafloor depth:-1545.873952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1546.641251 meters looking forward 0.000000 meters along route # Maximum depth: 1546.641251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.641251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940014; longitude = -130.010991; captureRadius = 10; duration = 100; initialDepth = 1508.649591; finalDepth = 1506.641251; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.641251 # Seafloor depth:-1546.641251 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1548.649591 meters looking forward 0.000000 meters along route # Maximum depth: 1548.649591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.649591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940869; longitude = -130.011534; captureRadius = 10; duration = 100; initialDepth = 1509.561074; finalDepth = 1508.649591; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.649591 # Seafloor depth:-1548.649591 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.561074 meters looking forward 0.000000 meters along route # Maximum depth: 1549.561074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.561074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941724; longitude = -130.012076; captureRadius = 10; duration = 100; initialDepth = 1510.578727; finalDepth = 1509.561074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.561074 # Seafloor depth:-1549.561074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1550.578727 meters looking forward 0.000000 meters along route # Maximum depth: 1550.578727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.578727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942586; longitude = -130.012623; captureRadius = 10; duration = 100; initialDepth = 1509.533082; finalDepth = 1510.578727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.578727 # Seafloor depth:-1550.578727 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.533082 meters looking forward 0.000000 meters along route # Maximum depth: 1549.533082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.533082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943433; longitude = -130.013161; captureRadius = 10; duration = 100; initialDepth = 1508.071882; finalDepth = 1509.533082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.533082 # Seafloor depth:-1549.533082 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1548.071882 meters looking forward 0.000000 meters along route # Maximum depth: 1548.071882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.071882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944288; longitude = -130.013704; captureRadius = 10; duration = 100; initialDepth = 1509.666096; finalDepth = 1508.071882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.071882 # Seafloor depth:-1548.071882 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.666096 meters looking forward 0.000000 meters along route # Maximum depth: 1549.666096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.666096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945125; longitude = -130.014235; captureRadius = 10; duration = 100; initialDepth = 1509.501347; finalDepth = 1509.666096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.666096 # Seafloor depth:-1549.666096 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.501347 meters looking forward 0.000000 meters along route # Maximum depth: 1549.501347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.501347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945952; longitude = -130.014760; captureRadius = 10; duration = 100; initialDepth = 1509.379453; finalDepth = 1509.501347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.501347 # Seafloor depth:-1549.501347 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.379453 meters looking forward 0.000000 meters along route # Maximum depth: 1549.379453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.379453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946807; longitude = -130.015303; captureRadius = 10; duration = 100; initialDepth = 1509.143561; finalDepth = 1509.379453; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.379453 # Seafloor depth:-1549.379453 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.143561 meters looking forward 0.000000 meters along route # Maximum depth: 1549.143561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.143561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947665; longitude = -130.015847; captureRadius = 10; duration = 100; initialDepth = 1505.739247; finalDepth = 1509.143561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.143561 # Seafloor depth:-1549.143561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1545.739247 meters looking forward 0.000000 meters along route # Maximum depth: 1545.739247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.739247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948517; longitude = -130.016388; captureRadius = 10; duration = 100; initialDepth = 1509.563779; finalDepth = 1505.739247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.739247 # Seafloor depth:-1545.739247 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1549.563779 meters looking forward 0.000000 meters along route # Maximum depth: 1549.563779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.563779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949371; longitude = -130.016931; captureRadius = 10; duration = 100; initialDepth = 1512.360050; finalDepth = 1509.563779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.563779 # Seafloor depth:-1549.563779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1552.360050 meters looking forward 0.000000 meters along route # Maximum depth: 1552.360050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.360050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950204; longitude = -130.017459; captureRadius = 10; duration = 100; initialDepth = 1511.985281; finalDepth = 1512.360050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.36005 # Seafloor depth:-1552.360050 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1551.985281 meters looking forward 0.000000 meters along route # Maximum depth: 1551.985281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.985281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951036; longitude = -130.017987; captureRadius = 10; duration = 100; initialDepth = 1515.749786; finalDepth = 1511.985281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.985281 # Seafloor depth:-1551.985281 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1555.749786 meters looking forward 0.000000 meters along route # Maximum depth: 1555.749786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.749786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951890; longitude = -130.018530; captureRadius = 10; duration = 100; initialDepth = 1515.215372; finalDepth = 1515.749786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.749786 # Seafloor depth:-1555.749786 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1555.215372 meters looking forward 0.000000 meters along route # Maximum depth: 1555.215372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.215372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952745; longitude = -130.019072; captureRadius = 10; duration = 100; initialDepth = 1515.516662; finalDepth = 1515.215372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.215372 # Seafloor depth:-1555.215372 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1555.516662 meters looking forward 0.000000 meters along route # Maximum depth: 1555.516662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.516662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953600; longitude = -130.019615; captureRadius = 10; duration = 100; initialDepth = 1514.498045; finalDepth = 1515.516662; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.516662 # Seafloor depth:-1555.516662 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1554.498045 meters looking forward 0.000000 meters along route # Maximum depth: 1554.498045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.498045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954455; longitude = -130.020157; captureRadius = 10; duration = 100; initialDepth = 1518.512507; finalDepth = 1514.498045; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.498045 # Seafloor depth:-1554.498045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1558.512507 meters looking forward 0.000000 meters along route # Maximum depth: 1558.512507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.512507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955283; longitude = -130.020683; captureRadius = 10; duration = 100; initialDepth = 1520.917391; finalDepth = 1518.512507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1518.512507 # Seafloor depth:-1558.512507 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1560.917391 meters looking forward 0.000000 meters along route # Maximum depth: 1560.917391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.917391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956119; longitude = -130.021214; captureRadius = 10; duration = 100; initialDepth = 1522.125716; finalDepth = 1520.917391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.917391 # Seafloor depth:-1560.917391 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1562.125716 meters looking forward 0.000000 meters along route # Maximum depth: 1562.125716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.125716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956974; longitude = -130.021756; captureRadius = 10; duration = 100; initialDepth = 1519.681606; finalDepth = 1522.125716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.125716 # Seafloor depth:-1562.125716 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.895453 meters # Minimum depth: 1559.681606 meters looking forward 0.000000 meters along route # Maximum depth: 1559.681606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.681606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957828; longitude = -130.022299; captureRadius = 10; duration = 100; initialDepth = 1525.064514; finalDepth = 1519.681606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.681606 # Seafloor depth:-1559.681606 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 100.895453 meters # Minimum depth: 1565.064514 meters looking forward 0.000000 meters along route # Maximum depth: 1565.064514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.064514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958668; longitude = -130.022832; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1523.393738; finalDepth = 1525.064514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.064514 # Seafloor depth:-1565.064514 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.895453 meters # Minimum depth: 1563.393738 meters looking forward 0.000000 meters along route # Maximum depth: 1563.393738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.393738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958915; longitude = -130.022037; captureRadius = 10; duration = 100; initialDepth = 1525.966766; finalDepth = 1523.393738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.393738 # Seafloor depth:-1563.393738 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 100.895453 meters # Minimum depth: 1565.966766 meters looking forward 0.000000 meters along route # Maximum depth: 1565.966766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.966766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959283; longitude = -130.020855; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1527.796054; finalDepth = 1525.966766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.966766 # Seafloor depth:-1565.966766 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1567.796054 meters looking forward 0.000000 meters along route # Maximum depth: 1567.796054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.796054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958908; longitude = -130.020617; captureRadius = 10; duration = 100; initialDepth = 1520.677880; finalDepth = 1527.796054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.796054 # Seafloor depth:-1567.796054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1560.677880 meters looking forward 0.000000 meters along route # Maximum depth: 1560.677880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.677880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958053; longitude = -130.020076; captureRadius = 10; duration = 100; initialDepth = 1517.508984; finalDepth = 1520.677880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.67788 # Seafloor depth:-1560.677880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1557.508984 meters looking forward 0.000000 meters along route # Maximum depth: 1557.508984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.508984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957199; longitude = -130.019535; captureRadius = 10; duration = 100; initialDepth = 1512.176619; finalDepth = 1517.508984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.508984 # Seafloor depth:-1557.508984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1552.176619 meters looking forward 0.000000 meters along route # Maximum depth: 1552.176619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.176619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956365; longitude = -130.019007; captureRadius = 10; duration = 100; initialDepth = 1507.036095; finalDepth = 1512.176619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.176619 # Seafloor depth:-1552.176619 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.036095 meters looking forward 0.000000 meters along route # Maximum depth: 1547.036095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.036095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955534; longitude = -130.018481; captureRadius = 10; duration = 100; initialDepth = 1498.426405; finalDepth = 1507.036095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.036095 # Seafloor depth:-1547.036095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1538.426405 meters looking forward 0.000000 meters along route # Maximum depth: 1538.426405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.426405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954679; longitude = -130.017939; captureRadius = 10; duration = 100; initialDepth = 1500.760085; finalDepth = 1498.426405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.426405 # Seafloor depth:-1538.426405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1540.760085 meters looking forward 0.000000 meters along route # Maximum depth: 1540.760085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.760085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953820; longitude = -130.017395; captureRadius = 10; duration = 100; initialDepth = 1504.418151; finalDepth = 1500.760085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.760085 # Seafloor depth:-1540.760085 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1544.418151 meters looking forward 0.000000 meters along route # Maximum depth: 1544.418151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.418151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952970; longitude = -130.016856; captureRadius = 10; duration = 100; initialDepth = 1508.465913; finalDepth = 1504.418151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.418151 # Seafloor depth:-1544.418151 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1548.465913 meters looking forward 0.000000 meters along route # Maximum depth: 1548.465913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.465913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952115; longitude = -130.016315; captureRadius = 10; duration = 100; initialDepth = 1506.468256; finalDepth = 1508.465913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.465913 # Seafloor depth:-1548.465913 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1546.468256 meters looking forward 0.000000 meters along route # Maximum depth: 1546.468256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.468256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951275; longitude = -130.015783; captureRadius = 10; duration = 100; initialDepth = 1508.913372; finalDepth = 1506.468256; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.468256 # Seafloor depth:-1546.468256 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1548.913372 meters looking forward 0.000000 meters along route # Maximum depth: 1548.913372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.913372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950451; longitude = -130.015261; captureRadius = 10; duration = 100; initialDepth = 1507.909354; finalDepth = 1508.913372; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.913372 # Seafloor depth:-1548.913372 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.909354 meters looking forward 0.000000 meters along route # Maximum depth: 1547.909354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.909354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949596; longitude = -130.014719; captureRadius = 10; duration = 100; initialDepth = 1509.447186; finalDepth = 1507.909354; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.909354 # Seafloor depth:-1547.909354 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1549.447186 meters looking forward 0.000000 meters along route # Maximum depth: 1549.447186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.447186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948741; longitude = -130.014178; captureRadius = 10; duration = 100; initialDepth = 1509.899368; finalDepth = 1509.447186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.447186 # Seafloor depth:-1549.447186 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1549.899368 meters looking forward 0.000000 meters along route # Maximum depth: 1549.899368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.899368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947916; longitude = -130.013655; captureRadius = 10; duration = 100; initialDepth = 1510.417551; finalDepth = 1509.899368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.899368 # Seafloor depth:-1549.899368 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1550.417551 meters looking forward 0.000000 meters along route # Maximum depth: 1550.417551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.417551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947077; longitude = -130.013124; captureRadius = 10; duration = 100; initialDepth = 1508.267195; finalDepth = 1510.417551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.417551 # Seafloor depth:-1550.417551 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1548.267195 meters looking forward 0.000000 meters along route # Maximum depth: 1548.267195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.267195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946222; longitude = -130.012582; captureRadius = 10; duration = 100; initialDepth = 1508.246518; finalDepth = 1508.267195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.267195 # Seafloor depth:-1548.267195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1548.246518 meters looking forward 0.000000 meters along route # Maximum depth: 1548.246518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.246518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945368; longitude = -130.012041; captureRadius = 10; duration = 100; initialDepth = 1509.930610; finalDepth = 1508.246518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.246518 # Seafloor depth:-1548.246518 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1549.930610 meters looking forward 0.000000 meters along route # Maximum depth: 1549.930610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.930610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944513; longitude = -130.011500; captureRadius = 10; duration = 100; initialDepth = 1508.657904; finalDepth = 1509.930610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.93061 # Seafloor depth:-1549.930610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1548.657904 meters looking forward 0.000000 meters along route # Maximum depth: 1548.657904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.657904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943658; longitude = -130.010958; captureRadius = 10; duration = 100; initialDepth = 1508.047764; finalDepth = 1508.657904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.657904 # Seafloor depth:-1548.657904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1548.047764 meters looking forward 0.000000 meters along route # Maximum depth: 1548.047764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.047764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942826; longitude = -130.010431; captureRadius = 10; duration = 100; initialDepth = 1507.713964; finalDepth = 1508.047764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.047764 # Seafloor depth:-1548.047764 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.713964 meters looking forward 0.000000 meters along route # Maximum depth: 1547.713964 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.713964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941994; longitude = -130.009904; captureRadius = 10; duration = 100; initialDepth = 1507.103227; finalDepth = 1507.713964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.713964 # Seafloor depth:-1547.713964 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.103227 meters looking forward 0.000000 meters along route # Maximum depth: 1547.103227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.103227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941139; longitude = -130.009363; captureRadius = 10; duration = 100; initialDepth = 1507.263476; finalDepth = 1507.103227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.103227 # Seafloor depth:-1547.103227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.263476 meters looking forward 0.000000 meters along route # Maximum depth: 1547.263476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.263476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940281; longitude = -130.008819; captureRadius = 10; duration = 100; initialDepth = 1507.345074; finalDepth = 1507.263476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.263476 # Seafloor depth:-1547.263476 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.345074 meters looking forward 0.000000 meters along route # Maximum depth: 1547.345074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.345074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939430; longitude = -130.008280; captureRadius = 10; duration = 100; initialDepth = 1507.626113; finalDepth = 1507.345074; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.345074 # Seafloor depth:-1547.345074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.626113 meters looking forward 0.000000 meters along route # Maximum depth: 1547.626113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.626113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938575; longitude = -130.007739; captureRadius = 10; duration = 100; initialDepth = 1507.787411; finalDepth = 1507.626113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.626113 # Seafloor depth:-1547.626113 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.787411 meters looking forward 0.000000 meters along route # Maximum depth: 1547.787411 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.787411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937736; longitude = -130.007207; captureRadius = 10; duration = 100; initialDepth = 1507.536823; finalDepth = 1507.787411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.787411 # Seafloor depth:-1547.787411 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.536823 meters looking forward 0.000000 meters along route # Maximum depth: 1547.536823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.536823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936910; longitude = -130.006684; captureRadius = 10; duration = 100; initialDepth = 1510.238619; finalDepth = 1507.536823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.536823 # Seafloor depth:-1547.536823 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1550.238619 meters looking forward 0.000000 meters along route # Maximum depth: 1550.238619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.238619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936056; longitude = -130.006143; captureRadius = 10; duration = 100; initialDepth = 1509.052516; finalDepth = 1510.238619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.238619 # Seafloor depth:-1550.238619 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1549.052516 meters looking forward 0.000000 meters along route # Maximum depth: 1549.052516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.052516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935191; longitude = -130.005595; captureRadius = 10; duration = 100; initialDepth = 1509.774225; finalDepth = 1509.052516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.052516 # Seafloor depth:-1549.052516 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1549.774225 meters looking forward 0.000000 meters along route # Maximum depth: 1549.774225 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.774225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934346; longitude = -130.005060; captureRadius = 10; duration = 100; initialDepth = 1507.675264; finalDepth = 1509.774225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.774225 # Seafloor depth:-1549.774225 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.675264 meters looking forward 0.000000 meters along route # Maximum depth: 1547.675264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.675264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933492; longitude = -130.004519; captureRadius = 10; duration = 100; initialDepth = 1507.184535; finalDepth = 1507.675264; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.675264 # Seafloor depth:-1547.675264 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.184535 meters looking forward 0.000000 meters along route # Maximum depth: 1547.184535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.184535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932637; longitude = -130.003978; captureRadius = 10; duration = 100; initialDepth = 1507.550566; finalDepth = 1507.184535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.184535 # Seafloor depth:-1547.184535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1547.550566 meters looking forward 0.000000 meters along route # Maximum depth: 1547.550566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.550566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931782; longitude = -130.003436; captureRadius = 10; duration = 100; initialDepth = 1502.907827; finalDepth = 1507.550566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.550566 # Seafloor depth:-1547.550566 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1542.907827 meters looking forward 0.000000 meters along route # Maximum depth: 1542.907827 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.907827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930928; longitude = -130.002895; captureRadius = 10; duration = 100; initialDepth = 1501.433678; finalDepth = 1502.907827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.907827 # Seafloor depth:-1542.907827 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1541.433678 meters looking forward 0.000000 meters along route # Maximum depth: 1541.433678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.433678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930101; longitude = -130.002371; captureRadius = 10; duration = 100; initialDepth = 1501.204159; finalDepth = 1501.433678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.433678 # Seafloor depth:-1541.433678 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1541.204159 meters looking forward 0.000000 meters along route # Maximum depth: 1541.204159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.204159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929263; longitude = -130.001841; captureRadius = 10; duration = 100; initialDepth = 1499.473268; finalDepth = 1501.204159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.204159 # Seafloor depth:-1541.204159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1539.473268 meters looking forward 0.000000 meters along route # Maximum depth: 1539.473268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.473268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928408; longitude = -130.001299; captureRadius = 10; duration = 100; initialDepth = 1499.453284; finalDepth = 1499.473268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.473268 # Seafloor depth:-1539.473268 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1539.453284 meters looking forward 0.000000 meters along route # Maximum depth: 1539.453284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.453284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927554; longitude = -130.000758; captureRadius = 10; duration = 100; initialDepth = 1501.328017; finalDepth = 1499.453284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.453284 # Seafloor depth:-1539.453284 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1541.328017 meters looking forward 0.000000 meters along route # Maximum depth: 1541.328017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.328017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926699; longitude = -130.000217; captureRadius = 10; duration = 100; initialDepth = 1501.779001; finalDepth = 1501.328017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.328017 # Seafloor depth:-1541.328017 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1541.779001 meters looking forward 0.000000 meters along route # Maximum depth: 1541.779001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.779001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925844; longitude = -129.999675; captureRadius = 10; duration = 100; initialDepth = 1502.496747; finalDepth = 1501.779001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.779001 # Seafloor depth:-1541.779001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1542.496747 meters looking forward 0.000000 meters along route # Maximum depth: 1542.496747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.496747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925011; longitude = -129.999147; captureRadius = 10; duration = 100; initialDepth = 1502.450790; finalDepth = 1502.496747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.496747 # Seafloor depth:-1542.496747 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1542.450790 meters looking forward 0.000000 meters along route # Maximum depth: 1542.450790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.450790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924180; longitude = -129.998621; captureRadius = 10; duration = 100; initialDepth = 1501.899598; finalDepth = 1502.450790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.45079 # Seafloor depth:-1542.450790 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.895453 meters # Minimum depth: 1541.899598 meters looking forward 0.000000 meters along route # Maximum depth: 1541.899598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.899598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923325; longitude = -129.998080; captureRadius = 10; duration = 100; initialDepth = 1492.906555; finalDepth = 1501.899598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.899598 # Seafloor depth:-1541.899598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 100.895453 meters # Minimum depth: 1532.906555 meters looking forward 0.000000 meters along route # Maximum depth: 1532.906555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.906555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922500; longitude = -129.997557; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1492.647757; finalDepth = 1492.906555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.906555 # Seafloor depth:-1532.906555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.895453 meters # Minimum depth: 1532.647757 meters looking forward 0.000000 meters along route # Maximum depth: 1532.647757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.647757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922520; longitude = -129.996504; captureRadius = 10; duration = 100; initialDepth = 1488.807159; finalDepth = 1492.647757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.647757 # Seafloor depth:-1532.647757 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 100.895453 meters # Minimum depth: 1528.807159 meters looking forward 0.000000 meters along route # Maximum depth: 1528.807159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.807159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922545; longitude = -129.995171; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1489.703586; finalDepth = 1488.807159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.807159 # Seafloor depth:-1528.807159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1529.703586 meters looking forward 0.000000 meters along route # Maximum depth: 1529.703586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.703586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922650; longitude = -129.995238; captureRadius = 10; duration = 100; initialDepth = 1494.888546; finalDepth = 1489.703586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.703586 # Seafloor depth:-1529.703586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1534.888546 meters looking forward 0.000000 meters along route # Maximum depth: 1534.888546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.888546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923505; longitude = -129.995780; captureRadius = 10; duration = 100; initialDepth = 1496.697612; finalDepth = 1494.888546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.888546 # Seafloor depth:-1534.888546 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1536.697612 meters looking forward 0.000000 meters along route # Maximum depth: 1536.697612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.697612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924342; longitude = -129.996310; captureRadius = 10; duration = 100; initialDepth = 1497.902695; finalDepth = 1496.697612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.697612 # Seafloor depth:-1536.697612 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1537.902695 meters looking forward 0.000000 meters along route # Maximum depth: 1537.902695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.902695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925169; longitude = -129.996834; captureRadius = 10; duration = 100; initialDepth = 1497.597191; finalDepth = 1497.902695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.902695 # Seafloor depth:-1537.902695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1537.597191 meters looking forward 0.000000 meters along route # Maximum depth: 1537.597191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.597191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926024; longitude = -129.997376; captureRadius = 10; duration = 100; initialDepth = 1494.433262; finalDepth = 1497.597191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.597191 # Seafloor depth:-1537.597191 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1534.433262 meters looking forward 0.000000 meters along route # Maximum depth: 1534.433262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.433262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926885; longitude = -129.997922; captureRadius = 10; duration = 100; initialDepth = 1495.197067; finalDepth = 1494.433262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.433262 # Seafloor depth:-1534.433262 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1535.197067 meters looking forward 0.000000 meters along route # Maximum depth: 1535.197067 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.197067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927734; longitude = -129.998460; captureRadius = 10; duration = 100; initialDepth = 1495.669735; finalDepth = 1495.197067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.197067 # Seafloor depth:-1535.197067 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1535.669735 meters looking forward 0.000000 meters along route # Maximum depth: 1535.669735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.669735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928588; longitude = -129.999001; captureRadius = 10; duration = 100; initialDepth = 1498.190431; finalDepth = 1495.669735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.669735 # Seafloor depth:-1535.669735 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1538.190431 meters looking forward 0.000000 meters along route # Maximum depth: 1538.190431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.190431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929429; longitude = -129.999534; captureRadius = 10; duration = 100; initialDepth = 1497.054200; finalDepth = 1498.190431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.190431 # Seafloor depth:-1538.190431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1537.054200 meters looking forward 0.000000 meters along route # Maximum depth: 1537.054200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.054200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930253; longitude = -130.000056; captureRadius = 10; duration = 100; initialDepth = 1496.975567; finalDepth = 1497.054200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.0542 # Seafloor depth:-1537.054200 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1536.975567 meters looking forward 0.000000 meters along route # Maximum depth: 1536.975567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.975567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931107; longitude = -130.000598; captureRadius = 10; duration = 100; initialDepth = 1501.134385; finalDepth = 1496.975567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.975567 # Seafloor depth:-1536.975567 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1541.134385 meters looking forward 0.000000 meters along route # Maximum depth: 1541.134385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.134385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931962; longitude = -130.001140; captureRadius = 10; duration = 100; initialDepth = 1506.386729; finalDepth = 1501.134385; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.134385 # Seafloor depth:-1541.134385 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1546.386729 meters looking forward 0.000000 meters along route # Maximum depth: 1546.386729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.386729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932786; longitude = -130.001662; captureRadius = 10; duration = 100; initialDepth = 1506.489226; finalDepth = 1506.386729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.386729 # Seafloor depth:-1546.386729 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1546.489226 meters looking forward 0.000000 meters along route # Maximum depth: 1546.489226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.489226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933627; longitude = -130.002195; captureRadius = 10; duration = 100; initialDepth = 1506.920006; finalDepth = 1506.489226; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.489226 # Seafloor depth:-1546.489226 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1546.920006 meters looking forward 0.000000 meters along route # Maximum depth: 1546.920006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.920006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934481; longitude = -130.002737; captureRadius = 10; duration = 100; initialDepth = 1506.709880; finalDepth = 1506.920006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.920006 # Seafloor depth:-1546.920006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1546.709880 meters looking forward 0.000000 meters along route # Maximum depth: 1546.709880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.709880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935336; longitude = -130.003278; captureRadius = 10; duration = 100; initialDepth = 1508.177043; finalDepth = 1506.709880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.70988 # Seafloor depth:-1546.709880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1548.177043 meters looking forward 0.000000 meters along route # Maximum depth: 1548.177043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.177043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936191; longitude = -130.003820; captureRadius = 10; duration = 100; initialDepth = 1506.343004; finalDepth = 1508.177043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.177043 # Seafloor depth:-1548.177043 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1546.343004 meters looking forward 0.000000 meters along route # Maximum depth: 1546.343004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.343004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937058; longitude = -130.004370; captureRadius = 10; duration = 100; initialDepth = 1505.787279; finalDepth = 1506.343004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.343004 # Seafloor depth:-1546.343004 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1545.787279 meters looking forward 0.000000 meters along route # Maximum depth: 1545.787279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.787279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937900; longitude = -130.004904; captureRadius = 10; duration = 100; initialDepth = 1506.943687; finalDepth = 1505.787279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.787279 # Seafloor depth:-1545.787279 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1546.943687 meters looking forward 0.000000 meters along route # Maximum depth: 1546.943687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.943687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938755; longitude = -130.005445; captureRadius = 10; duration = 100; initialDepth = 1507.020461; finalDepth = 1506.943687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.943687 # Seafloor depth:-1546.943687 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.020461 meters looking forward 0.000000 meters along route # Maximum depth: 1547.020461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.020461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939610; longitude = -130.005987; captureRadius = 10; duration = 100; initialDepth = 1507.401646; finalDepth = 1507.020461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.020461 # Seafloor depth:-1547.020461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.401646 meters looking forward 0.000000 meters along route # Maximum depth: 1547.401646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.401646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940464; longitude = -130.006529; captureRadius = 10; duration = 100; initialDepth = 1504.512312; finalDepth = 1507.401646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.401646 # Seafloor depth:-1547.401646 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1544.512312 meters looking forward 0.000000 meters along route # Maximum depth: 1544.512312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.512312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941319; longitude = -130.007071; captureRadius = 10; duration = 100; initialDepth = 1504.612549; finalDepth = 1504.512312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.512312 # Seafloor depth:-1544.512312 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1544.612549 meters looking forward 0.000000 meters along route # Maximum depth: 1544.612549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.612549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942145; longitude = -130.007594; captureRadius = 10; duration = 100; initialDepth = 1507.195298; finalDepth = 1504.612549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.612549 # Seafloor depth:-1544.612549 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.195298 meters looking forward 0.000000 meters along route # Maximum depth: 1547.195298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.195298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942983; longitude = -130.008126; captureRadius = 10; duration = 100; initialDepth = 1507.162353; finalDepth = 1507.195298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.195298 # Seafloor depth:-1547.195298 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.162353 meters looking forward 0.000000 meters along route # Maximum depth: 1547.162353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.162353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943838; longitude = -130.008667; captureRadius = 10; duration = 100; initialDepth = 1507.939892; finalDepth = 1507.162353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.162353 # Seafloor depth:-1547.162353 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.939892 meters looking forward 0.000000 meters along route # Maximum depth: 1547.939892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.939892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944693; longitude = -130.009209; captureRadius = 10; duration = 100; initialDepth = 1507.296936; finalDepth = 1507.939892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.939892 # Seafloor depth:-1547.939892 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.296936 meters looking forward 0.000000 meters along route # Maximum depth: 1547.296936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.296936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945548; longitude = -130.009751; captureRadius = 10; duration = 100; initialDepth = 1507.618329; finalDepth = 1507.296936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.296936 # Seafloor depth:-1547.296936 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.618329 meters looking forward 0.000000 meters along route # Maximum depth: 1547.618329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.618329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946402; longitude = -130.010292; captureRadius = 10; duration = 100; initialDepth = 1507.685415; finalDepth = 1507.618329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.618329 # Seafloor depth:-1547.618329 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1547.685415 meters looking forward 0.000000 meters along route # Maximum depth: 1547.685415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.685415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947231; longitude = -130.010818; captureRadius = 10; duration = 100; initialDepth = 1508.222845; finalDepth = 1507.685415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.685415 # Seafloor depth:-1547.685415 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1548.222845 meters looking forward 0.000000 meters along route # Maximum depth: 1548.222845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.222845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948067; longitude = -130.011347; captureRadius = 10; duration = 100; initialDepth = 1509.022928; finalDepth = 1508.222845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.222845 # Seafloor depth:-1548.222845 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1549.022928 meters looking forward 0.000000 meters along route # Maximum depth: 1549.022928 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.022928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948921; longitude = -130.011889; captureRadius = 10; duration = 100; initialDepth = 1511.499101; finalDepth = 1509.022928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.022928 # Seafloor depth:-1549.022928 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1551.499101 meters looking forward 0.000000 meters along route # Maximum depth: 1551.499101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.499101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949776; longitude = -130.012431; captureRadius = 10; duration = 100; initialDepth = 1515.720948; finalDepth = 1511.499101; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.499101 # Seafloor depth:-1551.499101 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1555.720948 meters looking forward 0.000000 meters along route # Maximum depth: 1555.720948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.720948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950631; longitude = -130.012973; captureRadius = 10; duration = 100; initialDepth = 1505.526651; finalDepth = 1515.720948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.720948 # Seafloor depth:-1555.720948 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1545.526651 meters looking forward 0.000000 meters along route # Maximum depth: 1545.526651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.526651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951486; longitude = -130.013514; captureRadius = 10; duration = 100; initialDepth = 1500.996085; finalDepth = 1505.526651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.526651 # Seafloor depth:-1545.526651 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1540.996085 meters looking forward 0.000000 meters along route # Maximum depth: 1540.996085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.996085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952318; longitude = -130.014042; captureRadius = 10; duration = 100; initialDepth = 1494.617208; finalDepth = 1500.996085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.996085 # Seafloor depth:-1540.996085 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1534.617208 meters looking forward 0.000000 meters along route # Maximum depth: 1534.617208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.617208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953150; longitude = -130.014569; captureRadius = 10; duration = 100; initialDepth = 1494.538429; finalDepth = 1494.617208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.617208 # Seafloor depth:-1534.617208 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1534.538429 meters looking forward 0.000000 meters along route # Maximum depth: 1534.538429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.538429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954005; longitude = -130.015111; captureRadius = 10; duration = 100; initialDepth = 1496.466558; finalDepth = 1494.538429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.538429 # Seafloor depth:-1534.538429 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1536.466558 meters looking forward 0.000000 meters along route # Maximum depth: 1536.466558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.466558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954861; longitude = -130.015654; captureRadius = 10; duration = 100; initialDepth = 1496.633227; finalDepth = 1496.466558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.466558 # Seafloor depth:-1536.466558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1536.633227 meters looking forward 0.000000 meters along route # Maximum depth: 1536.633227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.633227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955714; longitude = -130.016195; captureRadius = 10; duration = 100; initialDepth = 1504.557515; finalDepth = 1496.633227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.633227 # Seafloor depth:-1536.633227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1544.557515 meters looking forward 0.000000 meters along route # Maximum depth: 1544.557515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.557515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956569; longitude = -130.016736; captureRadius = 10; duration = 100; initialDepth = 1505.093360; finalDepth = 1504.557515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.557515 # Seafloor depth:-1544.557515 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1545.093360 meters looking forward 0.000000 meters along route # Maximum depth: 1545.093360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.093360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957404; longitude = -130.017266; captureRadius = 10; duration = 100; initialDepth = 1509.290820; finalDepth = 1505.093360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.09336 # Seafloor depth:-1545.093360 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1549.290820 meters looking forward 0.000000 meters along route # Maximum depth: 1549.290820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.290820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958233; longitude = -130.017791; captureRadius = 10; duration = 100; initialDepth = 1502.837242; finalDepth = 1509.290820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.29082 # Seafloor depth:-1549.290820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.895453 meters # Minimum depth: 1542.837242 meters looking forward 0.000000 meters along route # Maximum depth: 1542.837242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.837242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959088; longitude = -130.018333; captureRadius = 10; duration = 100; initialDepth = 1508.414215; finalDepth = 1502.837242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.837242 # Seafloor depth:-1542.837242 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 100.895453 meters # Minimum depth: 1548.414215 meters looking forward 0.000000 meters along route # Maximum depth: 1548.414215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.414215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959913; longitude = -130.018856; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1505.380456; finalDepth = 1508.414215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.414215 # Seafloor depth:-1548.414215 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.895453 meters # Minimum depth: 1545.380456 meters looking forward 0.000000 meters along route # Maximum depth: 1545.380456 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.380456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960185; longitude = -130.017975; captureRadius = 10; duration = 100; initialDepth = 1515.122162; finalDepth = 1505.380456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.380456 # Seafloor depth:-1545.380456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 100.895453 meters # Minimum depth: 1555.122162 meters looking forward 0.000000 meters along route # Maximum depth: 1555.122162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.122162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960557; longitude = -130.016771; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1515.822051; finalDepth = 1515.122162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.122162 # Seafloor depth:-1555.122162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1555.822051 meters looking forward 0.000000 meters along route # Maximum depth: 1555.822051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.822051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959763; longitude = -130.016270; captureRadius = 10; duration = 100; initialDepth = 1510.714272; finalDepth = 1515.822051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.822051 # Seafloor depth:-1555.822051 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1550.714272 meters looking forward 0.000000 meters along route # Maximum depth: 1550.714272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.714272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958908; longitude = -130.015731; captureRadius = 10; duration = 100; initialDepth = 1505.575994; finalDepth = 1510.714272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.714272 # Seafloor depth:-1550.714272 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1545.575994 meters looking forward 0.000000 meters along route # Maximum depth: 1545.575994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.575994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958071; longitude = -130.015202; captureRadius = 10; duration = 100; initialDepth = 1502.461884; finalDepth = 1505.575994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.575994 # Seafloor depth:-1545.575994 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1542.461884 meters looking forward 0.000000 meters along route # Maximum depth: 1542.461884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.461884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957244; longitude = -130.014680; captureRadius = 10; duration = 100; initialDepth = 1502.615289; finalDepth = 1502.461884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.461884 # Seafloor depth:-1542.461884 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1542.615289 meters looking forward 0.000000 meters along route # Maximum depth: 1542.615289 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.615289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956389; longitude = -130.014141; captureRadius = 10; duration = 100; initialDepth = 1497.374683; finalDepth = 1502.615289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.615289 # Seafloor depth:-1542.615289 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1537.374683 meters looking forward 0.000000 meters along route # Maximum depth: 1537.374683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.374683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955534; longitude = -130.013602; captureRadius = 10; duration = 100; initialDepth = 1494.019175; finalDepth = 1497.374683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.374683 # Seafloor depth:-1537.374683 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1534.019175 meters looking forward 0.000000 meters along route # Maximum depth: 1534.019175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.019175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954698; longitude = -130.013075; captureRadius = 10; duration = 100; initialDepth = 1497.642474; finalDepth = 1494.019175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.019175 # Seafloor depth:-1534.019175 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1537.642474 meters looking forward 0.000000 meters along route # Maximum depth: 1537.642474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.642474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953870; longitude = -130.012552; captureRadius = 10; duration = 100; initialDepth = 1495.861733; finalDepth = 1497.642474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.642474 # Seafloor depth:-1537.642474 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1535.861733 meters looking forward 0.000000 meters along route # Maximum depth: 1535.861733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.861733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953015; longitude = -130.012013; captureRadius = 10; duration = 100; initialDepth = 1498.839623; finalDepth = 1495.861733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.861733 # Seafloor depth:-1535.861733 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1538.839623 meters looking forward 0.000000 meters along route # Maximum depth: 1538.839623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.839623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952160; longitude = -130.011473; captureRadius = 10; duration = 100; initialDepth = 1501.358032; finalDepth = 1498.839623; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.839623 # Seafloor depth:-1538.839623 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1541.358032 meters looking forward 0.000000 meters along route # Maximum depth: 1541.358032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.358032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951326; longitude = -130.010947; captureRadius = 10; duration = 100; initialDepth = 1505.566541; finalDepth = 1501.358032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.358032 # Seafloor depth:-1541.358032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1545.566541 meters looking forward 0.000000 meters along route # Maximum depth: 1545.566541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.566541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950496; longitude = -130.010423; captureRadius = 10; duration = 100; initialDepth = 1505.019918; finalDepth = 1505.566541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.566541 # Seafloor depth:-1545.566541 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1545.019918 meters looking forward 0.000000 meters along route # Maximum depth: 1545.019918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.019918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949641; longitude = -130.009884; captureRadius = 10; duration = 100; initialDepth = 1507.028319; finalDepth = 1505.019918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.019918 # Seafloor depth:-1545.019918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1547.028319 meters looking forward 0.000000 meters along route # Maximum depth: 1547.028319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.028319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948786; longitude = -130.009345; captureRadius = 10; duration = 100; initialDepth = 1506.677598; finalDepth = 1507.028319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.028319 # Seafloor depth:-1547.028319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1546.677598 meters looking forward 0.000000 meters along route # Maximum depth: 1546.677598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.677598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947953; longitude = -130.008819; captureRadius = 10; duration = 100; initialDepth = 1507.185381; finalDepth = 1506.677598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.677598 # Seafloor depth:-1546.677598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1547.185381 meters looking forward 0.000000 meters along route # Maximum depth: 1547.185381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.185381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947122; longitude = -130.008294; captureRadius = 10; duration = 100; initialDepth = 1507.080382; finalDepth = 1507.185381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.185381 # Seafloor depth:-1547.185381 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1547.080382 meters looking forward 0.000000 meters along route # Maximum depth: 1547.080382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.080382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946267; longitude = -130.007755; captureRadius = 10; duration = 100; initialDepth = 1507.423129; finalDepth = 1507.080382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.080382 # Seafloor depth:-1547.080382 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1547.423129 meters looking forward 0.000000 meters along route # Maximum depth: 1547.423129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.423129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945413; longitude = -130.007216; captureRadius = 10; duration = 100; initialDepth = 1502.623224; finalDepth = 1507.423129; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.423129 # Seafloor depth:-1547.423129 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1542.623224 meters looking forward 0.000000 meters along route # Maximum depth: 1542.623224 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.623224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944581; longitude = -130.006691; captureRadius = 10; duration = 100; initialDepth = 1502.183026; finalDepth = 1502.623224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.623224 # Seafloor depth:-1542.623224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1542.183026 meters looking forward 0.000000 meters along route # Maximum depth: 1542.183026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.183026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943748; longitude = -130.006166; captureRadius = 10; duration = 100; initialDepth = 1500.705412; finalDepth = 1502.183026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.183026 # Seafloor depth:-1542.183026 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1540.705412 meters looking forward 0.000000 meters along route # Maximum depth: 1540.705412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.705412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942893; longitude = -130.005627; captureRadius = 10; duration = 100; initialDepth = 1500.717194; finalDepth = 1500.705412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.705412 # Seafloor depth:-1540.705412 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1540.717194 meters looking forward 0.000000 meters along route # Maximum depth: 1540.717194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.717194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942026; longitude = -130.005079; captureRadius = 10; duration = 100; initialDepth = 1497.392581; finalDepth = 1500.717194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.717194 # Seafloor depth:-1540.717194 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1537.392581 meters looking forward 0.000000 meters along route # Maximum depth: 1537.392581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.392581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941184; longitude = -130.004548; captureRadius = 10; duration = 100; initialDepth = 1500.851079; finalDepth = 1497.392581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.392581 # Seafloor depth:-1537.392581 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1540.851079 meters looking forward 0.000000 meters along route # Maximum depth: 1540.851079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.851079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940329; longitude = -130.004009; captureRadius = 10; duration = 100; initialDepth = 1501.156120; finalDepth = 1500.851079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.851079 # Seafloor depth:-1540.851079 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1541.156120 meters looking forward 0.000000 meters along route # Maximum depth: 1541.156120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.156120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939471; longitude = -130.003467; captureRadius = 10; duration = 100; initialDepth = 1505.651847; finalDepth = 1501.156120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.15612 # Seafloor depth:-1541.156120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1545.651847 meters looking forward 0.000000 meters along route # Maximum depth: 1545.651847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.651847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938620; longitude = -130.002930; captureRadius = 10; duration = 100; initialDepth = 1507.195414; finalDepth = 1505.651847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.651847 # Seafloor depth:-1545.651847 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1547.195414 meters looking forward 0.000000 meters along route # Maximum depth: 1547.195414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.195414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937765; longitude = -130.002391; captureRadius = 10; duration = 100; initialDepth = 1504.832793; finalDepth = 1507.195414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.195414 # Seafloor depth:-1547.195414 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1544.832793 meters looking forward 0.000000 meters along route # Maximum depth: 1544.832793 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.832793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936910; longitude = -130.001852; captureRadius = 10; duration = 100; initialDepth = 1504.635053; finalDepth = 1504.832793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.832793 # Seafloor depth:-1544.832793 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1544.635053 meters looking forward 0.000000 meters along route # Maximum depth: 1544.635053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.635053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936056; longitude = -130.001312; captureRadius = 10; duration = 100; initialDepth = 1503.833258; finalDepth = 1504.635053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.635053 # Seafloor depth:-1544.635053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1543.833258 meters looking forward 0.000000 meters along route # Maximum depth: 1543.833258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.833258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935201; longitude = -130.000773; captureRadius = 10; duration = 100; initialDepth = 1501.786584; finalDepth = 1503.833258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.833258 # Seafloor depth:-1543.833258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1541.786584 meters looking forward 0.000000 meters along route # Maximum depth: 1541.786584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.786584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934361; longitude = -130.000243; captureRadius = 10; duration = 100; initialDepth = 1497.742136; finalDepth = 1501.786584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.786584 # Seafloor depth:-1541.786584 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1537.742136 meters looking forward 0.000000 meters along route # Maximum depth: 1537.742136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.742136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933537; longitude = -129.999723; captureRadius = 10; duration = 100; initialDepth = 1495.940768; finalDepth = 1497.742136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.742136 # Seafloor depth:-1537.742136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1535.940768 meters looking forward 0.000000 meters along route # Maximum depth: 1535.940768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.940768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932682; longitude = -129.999184; captureRadius = 10; duration = 100; initialDepth = 1494.638159; finalDepth = 1495.940768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.940768 # Seafloor depth:-1535.940768 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1534.638159 meters looking forward 0.000000 meters along route # Maximum depth: 1534.638159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.638159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931827; longitude = -129.998645; captureRadius = 10; duration = 100; initialDepth = 1495.090632; finalDepth = 1494.638159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.638159 # Seafloor depth:-1534.638159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1535.090632 meters looking forward 0.000000 meters along route # Maximum depth: 1535.090632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.090632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930989; longitude = -129.998116; captureRadius = 10; duration = 100; initialDepth = 1494.708833; finalDepth = 1495.090632; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.090632 # Seafloor depth:-1535.090632 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1534.708833 meters looking forward 0.000000 meters along route # Maximum depth: 1534.708833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.708833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930163; longitude = -129.997594; captureRadius = 10; duration = 100; initialDepth = 1495.124344; finalDepth = 1494.708833; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.708833 # Seafloor depth:-1534.708833 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1535.124344 meters looking forward 0.000000 meters along route # Maximum depth: 1535.124344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.124344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929308; longitude = -129.997055; captureRadius = 10; duration = 100; initialDepth = 1493.538780; finalDepth = 1495.124344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.124344 # Seafloor depth:-1535.124344 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1533.538780 meters looking forward 0.000000 meters along route # Maximum depth: 1533.538780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.538780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928453; longitude = -129.996516; captureRadius = 10; duration = 100; initialDepth = 1492.642861; finalDepth = 1493.538780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.53878 # Seafloor depth:-1533.538780 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1532.642861 meters looking forward 0.000000 meters along route # Maximum depth: 1532.642861 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.642861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927616; longitude = -129.995988; captureRadius = 10; duration = 100; initialDepth = 1491.978205; finalDepth = 1492.642861; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.642861 # Seafloor depth:-1532.642861 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1531.978205 meters looking forward 0.000000 meters along route # Maximum depth: 1531.978205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.978205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926789; longitude = -129.995466; captureRadius = 10; duration = 100; initialDepth = 1491.131198; finalDepth = 1491.978205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.978205 # Seafloor depth:-1531.978205 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1531.131198 meters looking forward 0.000000 meters along route # Maximum depth: 1531.131198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.131198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925934; longitude = -129.994926; captureRadius = 10; duration = 100; initialDepth = 1491.694878; finalDepth = 1491.131198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.131198 # Seafloor depth:-1531.131198 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1531.694878 meters looking forward 0.000000 meters along route # Maximum depth: 1531.694878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.694878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925080; longitude = -129.994387; captureRadius = 10; duration = 100; initialDepth = 1491.203012; finalDepth = 1491.694878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.694878 # Seafloor depth:-1531.694878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1531.203012 meters looking forward 0.000000 meters along route # Maximum depth: 1531.203012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.203012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924244; longitude = -129.993860; captureRadius = 10; duration = 100; initialDepth = 1488.278622; finalDepth = 1491.203012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.203012 # Seafloor depth:-1531.203012 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.895453 meters # Minimum depth: 1528.278622 meters looking forward 0.000000 meters along route # Maximum depth: 1528.278622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.278622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923415; longitude = -129.993337; captureRadius = 10; duration = 100; initialDepth = 1484.374695; finalDepth = 1488.278622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.278622 # Seafloor depth:-1528.278622 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 100.895453 meters # Minimum depth: 1524.374695 meters looking forward 0.000000 meters along route # Maximum depth: 1524.374695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.374695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922575; longitude = -129.992807; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1484.146969; finalDepth = 1484.374695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.374695 # Seafloor depth:-1524.374695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.895453 meters # Minimum depth: 1524.146969 meters looking forward 0.000000 meters along route # Maximum depth: 1524.146969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.146969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922575; longitude = -129.991732; captureRadius = 10; duration = 100; initialDepth = 1483.752838; finalDepth = 1484.146969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.146969 # Seafloor depth:-1524.146969 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1523.752838 meters looking forward 0.000000 meters along route # Maximum depth: 1523.752838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.752838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922575; longitude = -129.990421; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1482.118686; finalDepth = 1483.752838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.752838 # Seafloor depth:-1523.752838 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1522.118686 meters looking forward 0.000000 meters along route # Maximum depth: 1522.118686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.118686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923100; longitude = -129.990753; captureRadius = 10; duration = 100; initialDepth = 1482.561086; finalDepth = 1482.118686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.118686 # Seafloor depth:-1522.118686 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1522.561086 meters looking forward 0.000000 meters along route # Maximum depth: 1522.561086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.561086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923935; longitude = -129.991281; captureRadius = 10; duration = 100; initialDepth = 1486.399179; finalDepth = 1482.561086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.561086 # Seafloor depth:-1522.561086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1526.399179 meters looking forward 0.000000 meters along route # Maximum depth: 1526.399179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.399179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924765; longitude = -129.991806; captureRadius = 10; duration = 100; initialDepth = 1486.177873; finalDepth = 1486.399179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.399179 # Seafloor depth:-1526.399179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1526.177873 meters looking forward 0.000000 meters along route # Maximum depth: 1526.177873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.177873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925619; longitude = -129.992346; captureRadius = 10; duration = 100; initialDepth = 1485.954195; finalDepth = 1486.177873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.177873 # Seafloor depth:-1526.177873 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1525.954195 meters looking forward 0.000000 meters along route # Maximum depth: 1525.954195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.954195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926483; longitude = -129.992893; captureRadius = 10; duration = 100; initialDepth = 1488.426586; finalDepth = 1485.954195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.954195 # Seafloor depth:-1525.954195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1528.426586 meters looking forward 0.000000 meters along route # Maximum depth: 1528.426586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.426586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927329; longitude = -129.993427; captureRadius = 10; duration = 100; initialDepth = 1492.831514; finalDepth = 1488.426586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.426586 # Seafloor depth:-1528.426586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1532.831514 meters looking forward 0.000000 meters along route # Maximum depth: 1532.831514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.831514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928183; longitude = -129.993968; captureRadius = 10; duration = 100; initialDepth = 1490.940249; finalDepth = 1492.831514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.831514 # Seafloor depth:-1532.831514 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1530.940249 meters looking forward 0.000000 meters along route # Maximum depth: 1530.940249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.940249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929038; longitude = -129.994508; captureRadius = 10; duration = 100; initialDepth = 1490.194610; finalDepth = 1490.940249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.940249 # Seafloor depth:-1530.940249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1530.194610 meters looking forward 0.000000 meters along route # Maximum depth: 1530.194610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.194610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929893; longitude = -129.995049; captureRadius = 10; duration = 100; initialDepth = 1490.380714; finalDepth = 1490.194610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.19461 # Seafloor depth:-1530.194610 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1530.380714 meters looking forward 0.000000 meters along route # Maximum depth: 1530.380714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.380714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930748; longitude = -129.995590; captureRadius = 10; duration = 100; initialDepth = 1486.936817; finalDepth = 1490.380714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.380714 # Seafloor depth:-1530.380714 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1526.936817 meters looking forward 0.000000 meters along route # Maximum depth: 1526.936817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.936817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931581; longitude = -129.996117; captureRadius = 10; duration = 100; initialDepth = 1487.179481; finalDepth = 1486.936817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.936817 # Seafloor depth:-1526.936817 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1527.179481 meters looking forward 0.000000 meters along route # Maximum depth: 1527.179481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.179481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932412; longitude = -129.996642; captureRadius = 10; duration = 100; initialDepth = 1490.195008; finalDepth = 1487.179481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.179481 # Seafloor depth:-1527.179481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1530.195008 meters looking forward 0.000000 meters along route # Maximum depth: 1530.195008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.195008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933267; longitude = -129.997183; captureRadius = 10; duration = 100; initialDepth = 1490.516176; finalDepth = 1490.195008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.195008 # Seafloor depth:-1530.195008 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1530.516176 meters looking forward 0.000000 meters along route # Maximum depth: 1530.516176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.516176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934130; longitude = -129.997729; captureRadius = 10; duration = 100; initialDepth = 1495.473731; finalDepth = 1490.516176; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.516176 # Seafloor depth:-1530.516176 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.473731 meters looking forward 0.000000 meters along route # Maximum depth: 1535.473731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.473731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934976; longitude = -129.998264; captureRadius = 10; duration = 100; initialDepth = 1502.186696; finalDepth = 1495.473731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.473731 # Seafloor depth:-1535.473731 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1542.186696 meters looking forward 0.000000 meters along route # Maximum depth: 1542.186696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.186696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935831; longitude = -129.998804; captureRadius = 10; duration = 100; initialDepth = 1501.670201; finalDepth = 1502.186696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.186696 # Seafloor depth:-1542.186696 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1541.670201 meters looking forward 0.000000 meters along route # Maximum depth: 1541.670201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.670201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936686; longitude = -129.999345; captureRadius = 10; duration = 100; initialDepth = 1503.322183; finalDepth = 1501.670201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.670201 # Seafloor depth:-1541.670201 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1543.322183 meters looking forward 0.000000 meters along route # Maximum depth: 1543.322183 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.322183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937540; longitude = -129.999885; captureRadius = 10; duration = 100; initialDepth = 1503.787092; finalDepth = 1503.322183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.322183 # Seafloor depth:-1543.322183 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1543.787092 meters looking forward 0.000000 meters along route # Maximum depth: 1543.787092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.787092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938395; longitude = -130.000426; captureRadius = 10; duration = 100; initialDepth = 1504.866953; finalDepth = 1503.787092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.787092 # Seafloor depth:-1543.787092 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1544.866953 meters looking forward 0.000000 meters along route # Maximum depth: 1544.866953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.866953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939228; longitude = -130.000953; captureRadius = 10; duration = 100; initialDepth = 1504.881586; finalDepth = 1504.866953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.866953 # Seafloor depth:-1544.866953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1544.881586 meters looking forward 0.000000 meters along route # Maximum depth: 1544.881586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.881586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940059; longitude = -130.001479; captureRadius = 10; duration = 100; initialDepth = 1499.948181; finalDepth = 1504.881586; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.881586 # Seafloor depth:-1544.881586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1539.948181 meters looking forward 0.000000 meters along route # Maximum depth: 1539.948181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.948181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940914; longitude = -130.002019; captureRadius = 10; duration = 100; initialDepth = 1497.114906; finalDepth = 1499.948181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.948181 # Seafloor depth:-1539.948181 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1537.114906 meters looking forward 0.000000 meters along route # Maximum depth: 1537.114906 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.114906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941769; longitude = -130.002560; captureRadius = 10; duration = 100; initialDepth = 1499.356445; finalDepth = 1497.114906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.114906 # Seafloor depth:-1537.114906 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1539.356445 meters looking forward 0.000000 meters along route # Maximum depth: 1539.356445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.356445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942592; longitude = -130.003080; captureRadius = 10; duration = 100; initialDepth = 1499.989468; finalDepth = 1499.356445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.356445 # Seafloor depth:-1539.356445 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1539.989468 meters looking forward 0.000000 meters along route # Maximum depth: 1539.989468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.989468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943433; longitude = -130.003612; captureRadius = 10; duration = 100; initialDepth = 1497.162661; finalDepth = 1499.989468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.989468 # Seafloor depth:-1539.989468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1537.162661 meters looking forward 0.000000 meters along route # Maximum depth: 1537.162661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.162661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944288; longitude = -130.004153; captureRadius = 10; duration = 100; initialDepth = 1500.618615; finalDepth = 1497.162661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.162661 # Seafloor depth:-1537.162661 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1540.618615 meters looking forward 0.000000 meters along route # Maximum depth: 1540.618615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.618615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945143; longitude = -130.004693; captureRadius = 10; duration = 100; initialDepth = 1502.459307; finalDepth = 1500.618615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.618615 # Seafloor depth:-1540.618615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1542.459307 meters looking forward 0.000000 meters along route # Maximum depth: 1542.459307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.459307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945997; longitude = -130.005234; captureRadius = 10; duration = 100; initialDepth = 1502.213168; finalDepth = 1502.459307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.459307 # Seafloor depth:-1542.459307 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1542.213168 meters looking forward 0.000000 meters along route # Maximum depth: 1542.213168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.213168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946852; longitude = -130.005774; captureRadius = 10; duration = 100; initialDepth = 1501.936557; finalDepth = 1502.213168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.213168 # Seafloor depth:-1542.213168 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1541.936557 meters looking forward 0.000000 meters along route # Maximum depth: 1541.936557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.936557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947690; longitude = -130.006304; captureRadius = 10; duration = 100; initialDepth = 1501.283463; finalDepth = 1501.936557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.936557 # Seafloor depth:-1541.936557 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1541.283463 meters looking forward 0.000000 meters along route # Maximum depth: 1541.283463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.283463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948517; longitude = -130.006827; captureRadius = 10; duration = 100; initialDepth = 1502.874499; finalDepth = 1501.283463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.283463 # Seafloor depth:-1541.283463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1542.874499 meters looking forward 0.000000 meters along route # Maximum depth: 1542.874499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.874499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949371; longitude = -130.007368; captureRadius = 10; duration = 100; initialDepth = 1498.681124; finalDepth = 1502.874499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.874499 # Seafloor depth:-1542.874499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1538.681124 meters looking forward 0.000000 meters along route # Maximum depth: 1538.681124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.681124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950239; longitude = -130.007916; captureRadius = 10; duration = 100; initialDepth = 1494.762849; finalDepth = 1498.681124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.681124 # Seafloor depth:-1538.681124 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1534.762849 meters looking forward 0.000000 meters along route # Maximum depth: 1534.762849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.762849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951081; longitude = -130.008449; captureRadius = 10; duration = 100; initialDepth = 1495.886112; finalDepth = 1494.762849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.762849 # Seafloor depth:-1534.762849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.886112 meters looking forward 0.000000 meters along route # Maximum depth: 1535.886112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.886112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951935; longitude = -130.008989; captureRadius = 10; duration = 100; initialDepth = 1499.524818; finalDepth = 1495.886112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.886112 # Seafloor depth:-1535.886112 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1539.524818 meters looking forward 0.000000 meters along route # Maximum depth: 1539.524818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.524818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952790; longitude = -130.009530; captureRadius = 10; duration = 100; initialDepth = 1496.141576; finalDepth = 1499.524818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.524818 # Seafloor depth:-1539.524818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1536.141576 meters looking forward 0.000000 meters along route # Maximum depth: 1536.141576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.141576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953645; longitude = -130.010070; captureRadius = 10; duration = 100; initialDepth = 1495.385535; finalDepth = 1496.141576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.141576 # Seafloor depth:-1536.141576 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.385535 meters looking forward 0.000000 meters along route # Maximum depth: 1535.385535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.385535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954500; longitude = -130.010611; captureRadius = 10; duration = 100; initialDepth = 1496.697725; finalDepth = 1495.385535; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.385535 # Seafloor depth:-1535.385535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1536.697725 meters looking forward 0.000000 meters along route # Maximum depth: 1536.697725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.697725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955337; longitude = -130.011140; captureRadius = 10; duration = 100; initialDepth = 1495.826948; finalDepth = 1496.697725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.697725 # Seafloor depth:-1536.697725 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.826948 meters looking forward 0.000000 meters along route # Maximum depth: 1535.826948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.826948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956164; longitude = -130.011663; captureRadius = 10; duration = 100; initialDepth = 1496.432131; finalDepth = 1495.826948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.826948 # Seafloor depth:-1535.826948 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1536.432131 meters looking forward 0.000000 meters along route # Maximum depth: 1536.432131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.432131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957019; longitude = -130.012204; captureRadius = 10; duration = 100; initialDepth = 1496.954885; finalDepth = 1496.432131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.432131 # Seafloor depth:-1536.432131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1536.954885 meters looking forward 0.000000 meters along route # Maximum depth: 1536.954885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.954885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957873; longitude = -130.012744; captureRadius = 10; duration = 100; initialDepth = 1500.717293; finalDepth = 1496.954885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.954885 # Seafloor depth:-1536.954885 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1540.717293 meters looking forward 0.000000 meters along route # Maximum depth: 1540.717293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.717293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958701; longitude = -130.013268; captureRadius = 10; duration = 100; initialDepth = 1510.941761; finalDepth = 1500.717293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.717293 # Seafloor depth:-1540.717293 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1550.941761 meters looking forward 0.000000 meters along route # Maximum depth: 1550.941761 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.941761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959538; longitude = -130.013797; captureRadius = 10; duration = 100; initialDepth = 1497.898481; finalDepth = 1510.941761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.941761 # Seafloor depth:-1550.941761 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1537.898481 meters looking forward 0.000000 meters along route # Maximum depth: 1537.898481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.898481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960393; longitude = -130.014338; captureRadius = 10; duration = 100; initialDepth = 1505.691864; finalDepth = 1497.898481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.898481 # Seafloor depth:-1537.898481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 100.895453 meters # Minimum depth: 1545.691864 meters looking forward 0.000000 meters along route # Maximum depth: 1545.691864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.691864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961217; longitude = -130.014859; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1510.818356; finalDepth = 1505.691864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.691864 # Seafloor depth:-1545.691864 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.895453 meters # Minimum depth: 1550.818356 meters looking forward 0.000000 meters along route # Maximum depth: 1550.818356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.818356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961486; longitude = -130.013977; captureRadius = 10; duration = 100; initialDepth = 1507.789429; finalDepth = 1510.818356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.818356 # Seafloor depth:-1550.818356 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1547.789429 meters looking forward 0.000000 meters along route # Maximum depth: 1547.789429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.789429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961847; longitude = -130.012795; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1507.943891; finalDepth = 1507.789429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.789429 # Seafloor depth:-1547.789429 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1547.943891 meters looking forward 0.000000 meters along route # Maximum depth: 1547.943891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.943891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961787; longitude = -130.012757; captureRadius = 10; duration = 100; initialDepth = 1502.602417; finalDepth = 1507.943891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.943891 # Seafloor depth:-1547.943891 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1542.602417 meters looking forward 0.000000 meters along route # Maximum depth: 1542.602417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.602417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960960; longitude = -130.012236; captureRadius = 10; duration = 100; initialDepth = 1495.550630; finalDepth = 1502.602417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.602417 # Seafloor depth:-1542.602417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.550630 meters looking forward 0.000000 meters along route # Maximum depth: 1535.550630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.550630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960123; longitude = -130.011709; captureRadius = 10; duration = 100; initialDepth = 1495.669848; finalDepth = 1495.550630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.55063 # Seafloor depth:-1535.550630 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.669848 meters looking forward 0.000000 meters along route # Maximum depth: 1535.669848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.669848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959268; longitude = -130.011170; captureRadius = 10; duration = 100; initialDepth = 1492.705105; finalDepth = 1495.669848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.669848 # Seafloor depth:-1535.669848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1532.705105 meters looking forward 0.000000 meters along route # Maximum depth: 1532.705105 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.705105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958402; longitude = -130.010624; captureRadius = 10; duration = 100; initialDepth = 1492.588921; finalDepth = 1492.705105; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.705105 # Seafloor depth:-1532.705105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1532.588921 meters looking forward 0.000000 meters along route # Maximum depth: 1532.588921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.588921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957558; longitude = -130.010093; captureRadius = 10; duration = 100; initialDepth = 1492.373434; finalDepth = 1492.588921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.588921 # Seafloor depth:-1532.588921 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1532.373434 meters looking forward 0.000000 meters along route # Maximum depth: 1532.373434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.373434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956704; longitude = -130.009555; captureRadius = 10; duration = 100; initialDepth = 1490.375718; finalDepth = 1492.373434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.373434 # Seafloor depth:-1532.373434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1530.375718 meters looking forward 0.000000 meters along route # Maximum depth: 1530.375718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.375718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955849; longitude = -130.009016; captureRadius = 10; duration = 100; initialDepth = 1489.159493; finalDepth = 1490.375718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.375718 # Seafloor depth:-1530.375718 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1529.159493 meters looking forward 0.000000 meters along route # Maximum depth: 1529.159493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.159493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955025; longitude = -130.008497; captureRadius = 10; duration = 100; initialDepth = 1491.526120; finalDepth = 1489.159493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.159493 # Seafloor depth:-1529.159493 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1531.526120 meters looking forward 0.000000 meters along route # Maximum depth: 1531.526120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.526120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954185; longitude = -130.007967; captureRadius = 10; duration = 100; initialDepth = 1489.610770; finalDepth = 1491.526120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.52612 # Seafloor depth:-1531.526120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1529.610770 meters looking forward 0.000000 meters along route # Maximum depth: 1529.610770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.610770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953330; longitude = -130.007429; captureRadius = 10; duration = 100; initialDepth = 1489.781481; finalDepth = 1489.610770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.61077 # Seafloor depth:-1529.610770 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1529.781481 meters looking forward 0.000000 meters along route # Maximum depth: 1529.781481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.781481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952475; longitude = -130.006890; captureRadius = 10; duration = 100; initialDepth = 1492.883542; finalDepth = 1489.781481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.781481 # Seafloor depth:-1529.781481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1532.883542 meters looking forward 0.000000 meters along route # Maximum depth: 1532.883542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.883542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951647; longitude = -130.006369; captureRadius = 10; duration = 100; initialDepth = 1496.774265; finalDepth = 1492.883542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.883542 # Seafloor depth:-1532.883542 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1536.774265 meters looking forward 0.000000 meters along route # Maximum depth: 1536.774265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.774265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950811; longitude = -130.005842; captureRadius = 10; duration = 100; initialDepth = 1501.727409; finalDepth = 1496.774265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.774265 # Seafloor depth:-1536.774265 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1541.727409 meters looking forward 0.000000 meters along route # Maximum depth: 1541.727409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.727409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949956; longitude = -130.005303; captureRadius = 10; duration = 100; initialDepth = 1497.522808; finalDepth = 1501.727409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.727409 # Seafloor depth:-1541.727409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1537.522808 meters looking forward 0.000000 meters along route # Maximum depth: 1537.522808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.522808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949089; longitude = -130.004757; captureRadius = 10; duration = 100; initialDepth = 1497.006339; finalDepth = 1497.522808; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.522808 # Seafloor depth:-1537.522808 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1537.006339 meters looking forward 0.000000 meters along route # Maximum depth: 1537.006339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.006339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948247; longitude = -130.004226; captureRadius = 10; duration = 100; initialDepth = 1495.782358; finalDepth = 1497.006339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.006339 # Seafloor depth:-1537.006339 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.782358 meters looking forward 0.000000 meters along route # Maximum depth: 1535.782358 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.782358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947392; longitude = -130.003688; captureRadius = 10; duration = 100; initialDepth = 1496.100059; finalDepth = 1495.782358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.782358 # Seafloor depth:-1535.782358 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1536.100059 meters looking forward 0.000000 meters along route # Maximum depth: 1536.100059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.100059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946537; longitude = -130.003149; captureRadius = 10; duration = 100; initialDepth = 1495.802631; finalDepth = 1496.100059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.100059 # Seafloor depth:-1536.100059 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.802631 meters looking forward 0.000000 meters along route # Maximum depth: 1535.802631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.802631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945712; longitude = -130.002629; captureRadius = 10; duration = 100; initialDepth = 1500.282168; finalDepth = 1495.802631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.802631 # Seafloor depth:-1535.802631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1540.282168 meters looking forward 0.000000 meters along route # Maximum depth: 1540.282168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.282168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944873; longitude = -130.002101; captureRadius = 10; duration = 100; initialDepth = 1501.647648; finalDepth = 1500.282168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.282168 # Seafloor depth:-1540.282168 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1541.647648 meters looking forward 0.000000 meters along route # Maximum depth: 1541.647648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.647648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944018; longitude = -130.001562; captureRadius = 10; duration = 100; initialDepth = 1501.922955; finalDepth = 1501.647648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.647648 # Seafloor depth:-1541.647648 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1541.922955 meters looking forward 0.000000 meters along route # Maximum depth: 1541.922955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.922955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943163; longitude = -130.001024; captureRadius = 10; duration = 100; initialDepth = 1501.790947; finalDepth = 1501.922955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.922955 # Seafloor depth:-1541.922955 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1541.790947 meters looking forward 0.000000 meters along route # Maximum depth: 1541.790947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.790947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942334; longitude = -130.000501; captureRadius = 10; duration = 100; initialDepth = 1503.282403; finalDepth = 1501.790947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.790947 # Seafloor depth:-1541.790947 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1543.282403 meters looking forward 0.000000 meters along route # Maximum depth: 1543.282403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.282403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941499; longitude = -129.999975; captureRadius = 10; duration = 100; initialDepth = 1500.728930; finalDepth = 1503.282403; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.282403 # Seafloor depth:-1543.282403 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1540.728930 meters looking forward 0.000000 meters along route # Maximum depth: 1540.728930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.728930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940644; longitude = -129.999436; captureRadius = 10; duration = 100; initialDepth = 1499.474229; finalDepth = 1500.728930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.72893 # Seafloor depth:-1540.728930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1539.474229 meters looking forward 0.000000 meters along route # Maximum depth: 1539.474229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.474229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939790; longitude = -129.998898; captureRadius = 10; duration = 100; initialDepth = 1499.925817; finalDepth = 1499.474229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.474229 # Seafloor depth:-1539.474229 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1539.925817 meters looking forward 0.000000 meters along route # Maximum depth: 1539.925817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.925817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938957; longitude = -129.998373; captureRadius = 10; duration = 100; initialDepth = 1498.142555; finalDepth = 1499.925817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.925817 # Seafloor depth:-1539.925817 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1538.142555 meters looking forward 0.000000 meters along route # Maximum depth: 1538.142555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.142555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938125; longitude = -129.997849; captureRadius = 10; duration = 100; initialDepth = 1498.045898; finalDepth = 1498.142555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.142555 # Seafloor depth:-1538.142555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 100.895453 meters # Minimum depth: 1538.045898 meters looking forward 0.000000 meters along route # Maximum depth: 1538.045898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.045898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937285; longitude = -129.997320; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1499.262028; finalDepth = 1498.045898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.045898 # Seafloor depth:-1538.045898 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1539.262028 meters looking forward 0.000000 meters along route # Maximum depth: 1539.262028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.262028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937267; longitude = -129.997600; captureRadius = 10; duration = 100; initialDepth = 1500.637701; finalDepth = 1499.262028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.262028 # Seafloor depth:-1539.262028 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1540.637701 meters looking forward 0.000000 meters along route # Maximum depth: 1540.637701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.637701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937182; longitude = -129.998889; captureRadius = 10; duration = 100; initialDepth = 1503.209911; finalDepth = 1500.637701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.637701 # Seafloor depth:-1540.637701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1543.209911 meters looking forward 0.000000 meters along route # Maximum depth: 1543.209911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.209911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937098; longitude = -130.000179; captureRadius = 10; duration = 100; initialDepth = 1505.526243; finalDepth = 1503.209911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.209911 # Seafloor depth:-1543.209911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1545.526243 meters looking forward 0.000000 meters along route # Maximum depth: 1545.526243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.526243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937014; longitude = -130.001468; captureRadius = 10; duration = 100; initialDepth = 1504.788702; finalDepth = 1505.526243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.526243 # Seafloor depth:-1545.526243 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1544.788702 meters looking forward 0.000000 meters along route # Maximum depth: 1544.788702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.788702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936930; longitude = -130.002758; captureRadius = 10; duration = 100; initialDepth = 1506.705214; finalDepth = 1504.788702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.788702 # Seafloor depth:-1544.788702 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1546.705214 meters looking forward 0.000000 meters along route # Maximum depth: 1546.705214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.705214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936846; longitude = -130.004048; captureRadius = 10; duration = 100; initialDepth = 1508.559475; finalDepth = 1506.705214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.705214 # Seafloor depth:-1546.705214 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1548.559475 meters looking forward 0.000000 meters along route # Maximum depth: 1548.559475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.559475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936761; longitude = -130.005337; captureRadius = 10; duration = 100; initialDepth = 1507.525495; finalDepth = 1508.559475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.559475 # Seafloor depth:-1548.559475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1547.525495 meters looking forward 0.000000 meters along route # Maximum depth: 1547.525495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.525495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936677; longitude = -130.006627; captureRadius = 10; duration = 100; initialDepth = 1506.553692; finalDepth = 1507.525495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.525495 # Seafloor depth:-1547.525495 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1546.553692 meters looking forward 0.000000 meters along route # Maximum depth: 1546.553692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.553692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936593; longitude = -130.007916; captureRadius = 10; duration = 100; initialDepth = 1503.739270; finalDepth = 1506.553692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.553692 # Seafloor depth:-1546.553692 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1543.739270 meters looking forward 0.000000 meters along route # Maximum depth: 1543.739270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.739270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936509; longitude = -130.009206; captureRadius = 10; duration = 100; initialDepth = 1504.464362; finalDepth = 1503.739270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.73927 # Seafloor depth:-1543.739270 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1544.464362 meters looking forward 0.000000 meters along route # Maximum depth: 1544.464362 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.464362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936424; longitude = -130.010495; captureRadius = 10; duration = 100; initialDepth = 1502.989852; finalDepth = 1504.464362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.464362 # Seafloor depth:-1544.464362 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1542.989852 meters looking forward 0.000000 meters along route # Maximum depth: 1542.989852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.989852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936340; longitude = -130.011785; captureRadius = 10; duration = 100; initialDepth = 1506.239758; finalDepth = 1502.989852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.989852 # Seafloor depth:-1542.989852 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1546.239758 meters looking forward 0.000000 meters along route # Maximum depth: 1546.239758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.239758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936256; longitude = -130.013075; captureRadius = 10; duration = 100; initialDepth = 1508.118818; finalDepth = 1506.239758; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.239758 # Seafloor depth:-1546.239758 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.895453 meters # Minimum depth: 1548.118818 meters looking forward 0.000000 meters along route # Maximum depth: 1548.118818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.118818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936172; longitude = -130.014364; captureRadius = 10; duration = 100; initialDepth = 1507.603577; finalDepth = 1508.118818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.118818 # Seafloor depth:-1548.118818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 100.895453 meters # Minimum depth: 1547.603577 meters looking forward 0.000000 meters along route # Maximum depth: 1547.603577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.603577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936086; longitude = -130.015675; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1510.480059; finalDepth = 1507.603577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.603577 # Seafloor depth:-1547.603577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1550.480059 meters looking forward 0.000000 meters along route # Maximum depth: 1550.480059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.480059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936569; longitude = -130.015976; captureRadius = 10; duration = 100; initialDepth = 1512.650440; finalDepth = 1510.480059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.480059 # Seafloor depth:-1550.480059 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1552.650440 meters looking forward 0.000000 meters along route # Maximum depth: 1552.650440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.650440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937395; longitude = -130.016492; captureRadius = 10; duration = 100; initialDepth = 1511.731821; finalDepth = 1512.650440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.65044 # Seafloor depth:-1552.650440 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1551.731821 meters looking forward 0.000000 meters along route # Maximum depth: 1551.731821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.731821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938222; longitude = -130.017008; captureRadius = 10; duration = 100; initialDepth = 1511.684500; finalDepth = 1511.731821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.731821 # Seafloor depth:-1551.731821 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1551.684500 meters looking forward 0.000000 meters along route # Maximum depth: 1551.684500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.684500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939049; longitude = -130.017524; captureRadius = 10; duration = 100; initialDepth = 1509.381726; finalDepth = 1511.684500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.6845 # Seafloor depth:-1551.684500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1549.381726 meters looking forward 0.000000 meters along route # Maximum depth: 1549.381726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.381726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939875; longitude = -130.018040; captureRadius = 10; duration = 100; initialDepth = 1507.587701; finalDepth = 1509.381726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.381726 # Seafloor depth:-1549.381726 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1547.587701 meters looking forward 0.000000 meters along route # Maximum depth: 1547.587701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.587701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940702; longitude = -130.018555; captureRadius = 10; duration = 100; initialDepth = 1506.929145; finalDepth = 1507.587701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.587701 # Seafloor depth:-1547.587701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1546.929145 meters looking forward 0.000000 meters along route # Maximum depth: 1546.929145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.929145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941528; longitude = -130.019071; captureRadius = 10; duration = 100; initialDepth = 1507.435961; finalDepth = 1506.929145; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.929145 # Seafloor depth:-1546.929145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1547.435961 meters looking forward 0.000000 meters along route # Maximum depth: 1547.435961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.435961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942355; longitude = -130.019587; captureRadius = 10; duration = 100; initialDepth = 1507.237179; finalDepth = 1507.435961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.435961 # Seafloor depth:-1547.435961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1547.237179 meters looking forward 0.000000 meters along route # Maximum depth: 1547.237179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.237179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943182; longitude = -130.020103; captureRadius = 10; duration = 100; initialDepth = 1506.684266; finalDepth = 1507.237179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.237179 # Seafloor depth:-1547.237179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1546.684266 meters looking forward 0.000000 meters along route # Maximum depth: 1546.684266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.684266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944008; longitude = -130.020619; captureRadius = 10; duration = 100; initialDepth = 1509.706489; finalDepth = 1506.684266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.684266 # Seafloor depth:-1546.684266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1549.706489 meters looking forward 0.000000 meters along route # Maximum depth: 1549.706489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.706489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944835; longitude = -130.021134; captureRadius = 10; duration = 100; initialDepth = 1513.192615; finalDepth = 1509.706489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.706489 # Seafloor depth:-1549.706489 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1553.192615 meters looking forward 0.000000 meters along route # Maximum depth: 1553.192615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.192615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945661; longitude = -130.021650; captureRadius = 10; duration = 100; initialDepth = 1513.380647; finalDepth = 1513.192615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.192615 # Seafloor depth:-1553.192615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1553.380647 meters looking forward 0.000000 meters along route # Maximum depth: 1553.380647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.380647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946488; longitude = -130.022166; captureRadius = 10; duration = 100; initialDepth = 1515.827047; finalDepth = 1513.380647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.380647 # Seafloor depth:-1553.380647 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1555.827047 meters looking forward 0.000000 meters along route # Maximum depth: 1555.827047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.827047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947315; longitude = -130.022682; captureRadius = 10; duration = 100; initialDepth = 1517.070481; finalDepth = 1515.827047; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.827047 # Seafloor depth:-1555.827047 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1557.070481 meters looking forward 0.000000 meters along route # Maximum depth: 1557.070481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.070481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948141; longitude = -130.023198; captureRadius = 10; duration = 100; initialDepth = 1516.632237; finalDepth = 1517.070481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.070481 # Seafloor depth:-1557.070481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1556.632237 meters looking forward 0.000000 meters along route # Maximum depth: 1556.632237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.632237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948968; longitude = -130.023714; captureRadius = 10; duration = 100; initialDepth = 1512.148545; finalDepth = 1516.632237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.632237 # Seafloor depth:-1556.632237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1552.148545 meters looking forward 0.000000 meters along route # Maximum depth: 1552.148545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.148545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949795; longitude = -130.024229; captureRadius = 10; duration = 100; initialDepth = 1510.466541; finalDepth = 1512.148545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.148545 # Seafloor depth:-1552.148545 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1550.466541 meters looking forward 0.000000 meters along route # Maximum depth: 1550.466541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.466541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950621; longitude = -130.024745; captureRadius = 10; duration = 100; initialDepth = 1510.688789; finalDepth = 1510.466541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.466541 # Seafloor depth:-1550.466541 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1550.688789 meters looking forward 0.000000 meters along route # Maximum depth: 1550.688789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.688789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951448; longitude = -130.025261; captureRadius = 10; duration = 100; initialDepth = 1510.857581; finalDepth = 1510.688789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.688789 # Seafloor depth:-1550.688789 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1550.857581 meters looking forward 0.000000 meters along route # Maximum depth: 1550.857581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.857581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952295; longitude = -130.025790; captureRadius = 10; duration = 100; initialDepth = 1511.698181; finalDepth = 1510.857581; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.857581 # Seafloor depth:-1550.857581 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1551.698181 meters looking forward 0.000000 meters along route # Maximum depth: 1551.698181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.698181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953135; longitude = -130.026314; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1511.683991; finalDepth = 1511.698181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.698181 # Seafloor depth:-1551.698181 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1551.683991 meters looking forward 0.000000 meters along route # Maximum depth: 1551.683991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.683991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954086; longitude = -130.026744; captureRadius = 10; duration = 100; initialDepth = 1512.189882; finalDepth = 1511.683991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.683991 # Seafloor depth:-1551.683991 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1552.189882 meters looking forward 0.000000 meters along route # Maximum depth: 1552.189882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.189882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955084; longitude = -130.027195; captureRadius = 10; duration = 100; initialDepth = 1520.981065; finalDepth = 1512.189882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.189882 # Seafloor depth:-1552.189882 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1560.981065 meters looking forward 0.000000 meters along route # Maximum depth: 1560.981065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.981065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956083; longitude = -130.027647; captureRadius = 10; duration = 100; initialDepth = 1523.812195; finalDepth = 1520.981065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.981065 # Seafloor depth:-1560.981065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 100.895453 meters # Minimum depth: 1563.812195 meters looking forward 0.000000 meters along route # Maximum depth: 1563.812195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.812195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957034; longitude = -130.028077; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1505.528137; finalDepth = 1523.812195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.812195 # Seafloor depth:-1563.812195 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1545.528137 meters looking forward 0.000000 meters along route # Maximum depth: 1545.528137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.528137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956599; longitude = -130.029151; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1505.663674; finalDepth = 1505.528137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.528137 # Seafloor depth:-1545.528137 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.895453 meters # Minimum depth: 1545.663674 meters looking forward 0.000000 meters along route # Maximum depth: 1545.663674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.663674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956459; longitude = -130.029065; captureRadius = 10; duration = 100; initialDepth = 1513.128907; finalDepth = 1505.663674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.663674 # Seafloor depth:-1545.663674 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.895453 meters # Minimum depth: 1553.128907 meters looking forward 0.000000 meters along route # Maximum depth: 1553.128907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.128907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955614; longitude = -130.028550; captureRadius = 10; duration = 100; initialDepth = 1508.683975; finalDepth = 1513.128907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.128907 # Seafloor depth:-1553.128907 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.895453 meters # Minimum depth: 1548.683975 meters looking forward 0.000000 meters along route # Maximum depth: 1548.683975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.683975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954770; longitude = -130.028034; captureRadius = 10; duration = 100; initialDepth = 1511.938995; finalDepth = 1508.683975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.683975 # Seafloor depth:-1548.683975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1551.938995 meters looking forward 0.000000 meters along route # Maximum depth: 1551.938995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.938995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953855; longitude = -130.027475; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1509.666736; finalDepth = 1511.938995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.938995 # Seafloor depth:-1551.938995 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1549.666736 meters looking forward 0.000000 meters along route # Maximum depth: 1549.666736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.666736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953404; longitude = -130.027647; captureRadius = 10; duration = 100; initialDepth = 1506.435150; finalDepth = 1509.666736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.666736 # Seafloor depth:-1549.666736 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1546.435150 meters looking forward 0.000000 meters along route # Maximum depth: 1546.435150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.435150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952445; longitude = -130.028012; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1502.377777; finalDepth = 1506.435150; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.43515 # Seafloor depth:-1546.435150 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1542.377777 meters looking forward 0.000000 meters along route # Maximum depth: 1542.377777 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.377777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951456; longitude = -130.027819; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1503.706463; finalDepth = 1502.377777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.377777 # Seafloor depth:-1542.377777 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1543.706463 meters looking forward 0.000000 meters along route # Maximum depth: 1543.706463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.706463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951353; longitude = -130.027647; captureRadius = 10; duration = 100; initialDepth = 1510.508301; finalDepth = 1503.706463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.706463 # Seafloor depth:-1543.706463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 100.895453 meters # Minimum depth: 1550.508301 meters looking forward 0.000000 meters along route # Maximum depth: 1550.508301 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.508301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950751; longitude = -130.026637; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1510.778110; finalDepth = 1510.508301; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.508301 # Seafloor depth:-1550.508301 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1550.778110 meters looking forward 0.000000 meters along route # Maximum depth: 1550.778110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.778110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950706; longitude = -130.026615; captureRadius = 10; duration = 100; initialDepth = 1515.446416; finalDepth = 1510.778110; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.77811 # Seafloor depth:-1550.778110 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1555.446416 meters looking forward 0.000000 meters along route # Maximum depth: 1555.446416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.446416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949784; longitude = -130.026164; captureRadius = 10; duration = 100; initialDepth = 1516.402893; finalDepth = 1515.446416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.446416 # Seafloor depth:-1555.446416 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1556.402893 meters looking forward 0.000000 meters along route # Maximum depth: 1556.402893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.402893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948906; longitude = -130.025734; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1516.571404; finalDepth = 1516.402893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.402893 # Seafloor depth:-1556.402893 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1556.571404 meters looking forward 0.000000 meters along route # Maximum depth: 1556.571404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.571404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948362; longitude = -130.025455; captureRadius = 10; duration = 100; initialDepth = 1512.782114; finalDepth = 1516.571404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.571404 # Seafloor depth:-1556.571404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1552.782114 meters looking forward 0.000000 meters along route # Maximum depth: 1552.782114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.782114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947484; longitude = -130.025003; captureRadius = 10; duration = 100; initialDepth = 1500.068878; finalDepth = 1512.782114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.782114 # Seafloor depth:-1552.782114 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1540.068878 meters looking forward 0.000000 meters along route # Maximum depth: 1540.068878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.068878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946522; longitude = -130.024509; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1500.826212; finalDepth = 1500.068878; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.068878 # Seafloor depth:-1540.068878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1540.826212 meters looking forward 0.000000 meters along route # Maximum depth: 1540.826212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.826212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946383; longitude = -130.024423; captureRadius = 10; duration = 100; initialDepth = 1505.608032; finalDepth = 1500.826212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.826212 # Seafloor depth:-1540.826212 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1545.608032 meters looking forward 0.000000 meters along route # Maximum depth: 1545.608032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.608032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945518; longitude = -130.023886; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1506.810594; finalDepth = 1505.608032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.608032 # Seafloor depth:-1545.608032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1546.810594 meters looking forward 0.000000 meters along route # Maximum depth: 1546.810594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.810594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945349; longitude = -130.023843; captureRadius = 10; duration = 100; initialDepth = 1505.124420; finalDepth = 1506.810594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.810594 # Seafloor depth:-1546.810594 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1545.124420 meters looking forward 0.000000 meters along route # Maximum depth: 1545.124420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.124420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944258; longitude = -130.023563; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1505.433975; finalDepth = 1505.124420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.12442 # Seafloor depth:-1545.124420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1545.433975 meters looking forward 0.000000 meters along route # Maximum depth: 1545.433975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.433975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944023; longitude = -130.023069; captureRadius = 10; duration = 100; initialDepth = 1503.630432; finalDepth = 1505.433975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.433975 # Seafloor depth:-1545.433975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1543.630432 meters looking forward 0.000000 meters along route # Maximum depth: 1543.630432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.630432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943493; longitude = -130.021951; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1497.325767; finalDepth = 1503.630432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.630432 # Seafloor depth:-1543.630432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1537.325767 meters looking forward 0.000000 meters along route # Maximum depth: 1537.325767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.325767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942759; longitude = -130.021923; captureRadius = 10; duration = 100; initialDepth = 1492.527191; finalDepth = 1497.325767; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.325767 # Seafloor depth:-1537.325767 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1532.527191 meters looking forward 0.000000 meters along route # Maximum depth: 1532.527191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.527191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941829; longitude = -130.021887; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1495.914824; finalDepth = 1492.527191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.527191 # Seafloor depth:-1532.527191 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1535.914824 meters looking forward 0.000000 meters along route # Maximum depth: 1535.914824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.914824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941499; longitude = -130.021584; captureRadius = 10; duration = 100; initialDepth = 1496.768341; finalDepth = 1495.914824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.914824 # Seafloor depth:-1535.914824 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1536.768341 meters looking forward 0.000000 meters along route # Maximum depth: 1536.768341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.768341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940704; longitude = -130.020855; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1496.789239; finalDepth = 1496.768341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.768341 # Seafloor depth:-1536.768341 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1536.789239 meters looking forward 0.000000 meters along route # Maximum depth: 1536.789239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.789239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940509; longitude = -130.020683; captureRadius = 10; duration = 100; initialDepth = 1505.900848; finalDepth = 1496.789239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.789239 # Seafloor depth:-1536.789239 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1545.900848 meters looking forward 0.000000 meters along route # Maximum depth: 1545.900848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.900848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939730; longitude = -130.019995; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1506.461019; finalDepth = 1505.900848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.900848 # Seafloor depth:-1545.900848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1546.461019 meters looking forward 0.000000 meters along route # Maximum depth: 1546.461019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.461019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939700; longitude = -130.019971; captureRadius = 10; duration = 100; initialDepth = 1507.124712; finalDepth = 1506.461019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.461019 # Seafloor depth:-1546.461019 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1547.124712 meters looking forward 0.000000 meters along route # Maximum depth: 1547.124712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.124712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938870; longitude = -130.019329; captureRadius = 10; duration = 100; initialDepth = 1510.625885; finalDepth = 1507.124712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.124712 # Seafloor depth:-1547.124712 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1550.625885 meters looking forward 0.000000 meters along route # Maximum depth: 1550.625885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.625885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938065; longitude = -130.018706; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1511.803366; finalDepth = 1510.625885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.625885 # Seafloor depth:-1550.625885 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1551.803366 meters looking forward 0.000000 meters along route # Maximum depth: 1551.803366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.803366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937966; longitude = -130.018620; captureRadius = 10; duration = 100; initialDepth = 1509.581392; finalDepth = 1511.803366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.803366 # Seafloor depth:-1551.803366 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1549.581392 meters looking forward 0.000000 meters along route # Maximum depth: 1549.581392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.581392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937180; longitude = -130.017936; captureRadius = 10; duration = 100; initialDepth = 1510.828430; finalDepth = 1509.581392; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.581392 # Seafloor depth:-1549.581392 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1550.828430 meters looking forward 0.000000 meters along route # Maximum depth: 1550.828430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.828430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936386; longitude = -130.017244; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1510.250914; finalDepth = 1510.828430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.82843 # Seafloor depth:-1550.828430 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1550.250914 meters looking forward 0.000000 meters along route # Maximum depth: 1550.250914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.250914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936236; longitude = -130.017068; captureRadius = 10; duration = 100; initialDepth = 1507.926900; finalDepth = 1510.250914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.250914 # Seafloor depth:-1550.250914 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1547.926900 meters looking forward 0.000000 meters along route # Maximum depth: 1547.926900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.926900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935524; longitude = -130.016234; captureRadius = 10; duration = 100; initialDepth = 1504.063599; finalDepth = 1507.926900; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.9269 # Seafloor depth:-1547.926900 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.895453 meters # Minimum depth: 1544.063599 meters looking forward 0.000000 meters along route # Maximum depth: 1544.063599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.063599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934826; longitude = -130.015417; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1502.671905; finalDepth = 1504.063599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.063599 # Seafloor depth:-1544.063599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1542.671905 meters looking forward 0.000000 meters along route # Maximum depth: 1542.671905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.671905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934616; longitude = -130.014687; captureRadius = 10; duration = 100; initialDepth = 1503.181807; finalDepth = 1502.671905; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.671905 # Seafloor depth:-1542.671905 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1543.181807 meters looking forward 0.000000 meters along route # Maximum depth: 1543.181807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.181807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934256; longitude = -130.013434; captureRadius = 10; duration = 100; initialDepth = 1502.849679; finalDepth = 1503.181807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.181807 # Seafloor depth:-1543.181807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.895453 meters # Minimum depth: 1542.849679 meters looking forward 0.000000 meters along route # Maximum depth: 1542.849679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1542.796054 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.849679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933913; longitude = -130.012236; captureRadius = 10; duration = 100; initialDepth = 1506.359985; finalDepth = 1502.849679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.849679 # Seafloor depth:-1542.849679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:1506.359985 # Seafloor depth:-1546.359985 # behavior reson { duration = RESON_DURATION; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 210; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 100.895453 meters # Minimum depth: 1546.359985 meters looking forward 0.000000 meters along route # Maximum depth: 1546.359985 meters looking forward 0.000000 meters along route # Vehicle depth: 1506.359985 meters behavior waypoint { latitude = 45.933567; longitude = -130.011033; captureRadius = 10; duration = 376; depth = 1506.359985; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1506.359985 meters set by local depth and desired altitude behavior descend { duration = 4449; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; } # # Waypoint behavior to get to start of line 1 # Segment length 100.895453 meters # Minimum depth: 1546.359985 meters looking forward 0.000000 meters along route # Maximum depth: 1546.359985 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 45.933567; longitude = -130.011033; captureRadius = 10; duration = 750; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 10.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 210; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################