# 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_2v12.rte # Mission File: Axial2008_2v12.cfg # Distance: 92885.103053 (m) # Estimated Time: 62263 (s) 17.295 (hr) # Abort Time: 61160 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1839 (s) # Way Points: 38 # Route Points: 934 # 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: 1607.140564 (m) # Abort Vehicle Depth: 1632.140564 (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 -129.984554 45.962708 -1505.308899 0.000000 3 # 1 -129.964995 45.949176 -1532.718628 2135.054599 3 # 2 -129.962738 45.936851 -1536.564545 3515.657378 3 # 3 -129.978493 45.919471 -1526.413208 5800.752238 3 # 4 -129.976107 45.906066 -1557.813477 7301.674061 4 # 5 -129.974151 45.906171 -1564.032959 7453.846190 3 # 6 -129.981953 45.946387 -1514.405945 11963.143740 1 # 7 -129.990744 45.971564 -1479.777618 14842.418323 4 # 8 -129.988852 45.971894 -1478.200775 14993.521962 3 # 9 -129.980169 45.946687 -1520.093567 17874.067331 1 # 10 -129.972330 45.906172 -1571.045868 22416.671310 4 # 11 -129.970413 45.906351 -1578.475281 22566.694143 3 # 12 -129.978278 45.946972 -1519.908722 27121.238582 1 # 13 -129.987305 45.972883 -1484.249786 30084.078833 4 # 14 -129.985456 45.973273 -1485.053772 30233.741914 3 # 15 -129.976343 45.947152 -1519.360229 33220.828529 1 # 16 -129.968497 45.906531 -1584.471985 37775.174547 4 # 17 -129.966580 45.906711 -1593.862549 37925.211117 3 # 18 -129.974366 45.947452 -1528.875824 42492.152787 1 # 19 -129.983565 45.973513 -1485.742432 45474.346474 4 # 20 -129.981824 45.974368 -1492.284821 45639.327726 3 # 21 -129.972560 45.947902 -1530.454926 48666.425266 1 # 22 -129.964664 45.906891 -1601.369965 53264.232477 4 # 23 -129.962747 45.907071 -1606.136871 53414.268013 3 # 24 -129.970669 45.948187 -1532.214203 58023.905264 1 # 25 -129.979911 45.974668 -1502.281464 61052.216779 4 # 26 -129.978020 45.974998 -1500.180206 61203.237084 3 # 27 -129.968885 45.948442 -1535.012634 64237.699875 1 # 28 -129.960831 45.907250 -1623.982819 68857.077721 4 # 29 -129.958914 45.907430 -1624.390747 69007.112225 3 # 30 -129.966951 45.948756 -1536.102386 73641.064078 1 # 31 -129.976558 45.976377 -1498.413483 76799.137649 4 # 32 -129.974882 45.977322 -1508.765228 76966.122640 3 # 33 -129.965059 45.949131 -1533.053040 80189.689522 1 # 34 -129.956997 45.907609 -1627.620911 84845.481043 4 # 35 -129.954946 45.907843 -1632.140564 85006.679924 3 # 36 -129.963072 45.949390 -1528.423523 89665.891092 1 # 37 -129.972899 45.977540 -1533.027252 92885.103053 4 # # A total of 934 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61160; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1607.140564; abortDepth = 1632.140564; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1839; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 100.957825 meters # Minimum depth: 1533.027252 meters looking forward 0.000000 meters along route # Maximum depth: 1533.027252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.027252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977540; longitude = -129.972899; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1495.363748; finalDepth = 1493.027252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.027252 # Seafloor depth:-1533.027252 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.363748 meters looking forward 0.000000 meters along route # Maximum depth: 1535.363748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.363748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977232; longitude = -129.972791; captureRadius = 10; duration = 100; initialDepth = 1487.759279; finalDepth = 1495.363748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.363748 # Seafloor depth:-1535.363748 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.759279 meters looking forward 0.000000 meters along route # Maximum depth: 1527.759279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.759279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976355; longitude = -129.972485; captureRadius = 10; duration = 100; initialDepth = 1485.156476; finalDepth = 1487.759279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.759279 # Seafloor depth:-1527.759279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.156476 meters looking forward 0.000000 meters along route # Maximum depth: 1525.156476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.156476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975455; longitude = -129.972171; captureRadius = 10; duration = 100; initialDepth = 1488.758910; finalDepth = 1485.156476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.156476 # Seafloor depth:-1525.156476 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.758910 meters looking forward 0.000000 meters along route # Maximum depth: 1528.758910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.758910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974555; longitude = -129.971857; captureRadius = 10; duration = 100; initialDepth = 1492.595021; finalDepth = 1488.758910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.75891 # Seafloor depth:-1528.758910 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.595021 meters looking forward 0.000000 meters along route # Maximum depth: 1532.595021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.595021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973655; longitude = -129.971543; captureRadius = 10; duration = 100; initialDepth = 1492.695902; finalDepth = 1492.595021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.595021 # Seafloor depth:-1532.595021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.695902 meters looking forward 0.000000 meters along route # Maximum depth: 1532.695902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.695902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972756; longitude = -129.971229; captureRadius = 10; duration = 100; initialDepth = 1487.810274; finalDepth = 1492.695902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.695902 # Seafloor depth:-1532.695902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.810274 meters looking forward 0.000000 meters along route # Maximum depth: 1527.810274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.810274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971856; longitude = -129.970915; captureRadius = 10; duration = 100; initialDepth = 1486.017631; finalDepth = 1487.810274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.810274 # Seafloor depth:-1527.810274 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.017631 meters looking forward 0.000000 meters along route # Maximum depth: 1526.017631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.017631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970949; longitude = -129.970598; captureRadius = 10; duration = 100; initialDepth = 1484.484153; finalDepth = 1486.017631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.017631 # Seafloor depth:-1526.017631 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.484153 meters looking forward 0.000000 meters along route # Maximum depth: 1524.484153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.484153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970056; longitude = -129.970286; captureRadius = 10; duration = 100; initialDepth = 1487.487332; finalDepth = 1484.484153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.484153 # Seafloor depth:-1524.484153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.487332 meters looking forward 0.000000 meters along route # Maximum depth: 1527.487332 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.487332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969156; longitude = -129.969972; captureRadius = 10; duration = 100; initialDepth = 1490.251887; finalDepth = 1487.487332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.487332 # Seafloor depth:-1527.487332 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.251887 meters looking forward 0.000000 meters along route # Maximum depth: 1530.251887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.251887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968257; longitude = -129.969658; captureRadius = 10; duration = 100; initialDepth = 1493.062245; finalDepth = 1490.251887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.251887 # Seafloor depth:-1530.251887 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.062245 meters looking forward 0.000000 meters along route # Maximum depth: 1533.062245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.062245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967357; longitude = -129.969344; captureRadius = 10; duration = 100; initialDepth = 1501.863092; finalDepth = 1493.062245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.062245 # Seafloor depth:-1533.062245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1541.863092 meters looking forward 0.000000 meters along route # Maximum depth: 1541.863092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.863092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966457; longitude = -129.969030; captureRadius = 10; duration = 100; initialDepth = 1502.686736; finalDepth = 1501.863092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.863092 # Seafloor depth:-1541.863092 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1542.686736 meters looking forward 0.000000 meters along route # Maximum depth: 1542.686736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.686736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965557; longitude = -129.968716; captureRadius = 10; duration = 100; initialDepth = 1500.689346; finalDepth = 1502.686736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.686736 # Seafloor depth:-1542.686736 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.689346 meters looking forward 0.000000 meters along route # Maximum depth: 1540.689346 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.689346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964657; longitude = -129.968402; captureRadius = 10; duration = 100; initialDepth = 1500.290038; finalDepth = 1500.689346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.689346 # Seafloor depth:-1540.689346 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.290038 meters looking forward 0.000000 meters along route # Maximum depth: 1540.290038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.290038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963742; longitude = -129.968082; captureRadius = 10; duration = 100; initialDepth = 1497.053273; finalDepth = 1500.290038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.290038 # Seafloor depth:-1540.290038 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.053273 meters looking forward 0.000000 meters along route # Maximum depth: 1537.053273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.053273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962858; longitude = -129.967773; captureRadius = 10; duration = 100; initialDepth = 1494.026446; finalDepth = 1497.053273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.053273 # Seafloor depth:-1537.053273 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.026446 meters looking forward 0.000000 meters along route # Maximum depth: 1534.026446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.026446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961958; longitude = -129.967459; captureRadius = 10; duration = 100; initialDepth = 1489.034416; finalDepth = 1494.026446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.026446 # Seafloor depth:-1534.026446 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.034416 meters looking forward 0.000000 meters along route # Maximum depth: 1529.034416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.034416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961058; longitude = -129.967145; captureRadius = 10; duration = 100; initialDepth = 1488.929326; finalDepth = 1489.034416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.034416 # Seafloor depth:-1529.034416 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.929326 meters looking forward 0.000000 meters along route # Maximum depth: 1528.929326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.929326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960158; longitude = -129.966831; captureRadius = 10; duration = 100; initialDepth = 1491.467853; finalDepth = 1488.929326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.929326 # Seafloor depth:-1528.929326 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.467853 meters looking forward 0.000000 meters along route # Maximum depth: 1531.467853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.467853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959258; longitude = -129.966517; captureRadius = 10; duration = 100; initialDepth = 1496.755610; finalDepth = 1491.467853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.467853 # Seafloor depth:-1531.467853 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.755610 meters looking forward 0.000000 meters along route # Maximum depth: 1536.755610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.755610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958383; longitude = -129.966211; captureRadius = 10; duration = 100; initialDepth = 1496.442412; finalDepth = 1496.755610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.75561 # Seafloor depth:-1536.755610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.442412 meters looking forward 0.000000 meters along route # Maximum depth: 1536.442412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.442412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957504; longitude = -129.965904; captureRadius = 10; duration = 100; initialDepth = 1498.754718; finalDepth = 1496.442412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.442412 # Seafloor depth:-1536.442412 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.754718 meters looking forward 0.000000 meters along route # Maximum depth: 1538.754718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.754718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956604; longitude = -129.965590; captureRadius = 10; duration = 100; initialDepth = 1500.716622; finalDepth = 1498.754718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.754718 # Seafloor depth:-1538.754718 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.716622 meters looking forward 0.000000 meters along route # Maximum depth: 1540.716622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.716622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955704; longitude = -129.965276; captureRadius = 10; duration = 100; initialDepth = 1499.855801; finalDepth = 1500.716622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.716622 # Seafloor depth:-1540.716622 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.855801 meters looking forward 0.000000 meters along route # Maximum depth: 1539.855801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.855801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954804; longitude = -129.964962; captureRadius = 10; duration = 100; initialDepth = 1495.218706; finalDepth = 1499.855801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.855801 # Seafloor depth:-1539.855801 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.218706 meters looking forward 0.000000 meters along route # Maximum depth: 1535.218706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.218706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953904; longitude = -129.964648; captureRadius = 10; duration = 100; initialDepth = 1497.045408; finalDepth = 1495.218706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.218706 # Seafloor depth:-1535.218706 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.045408 meters looking forward 0.000000 meters along route # Maximum depth: 1537.045408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.045408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953005; longitude = -129.964334; captureRadius = 10; duration = 100; initialDepth = 1496.531451; finalDepth = 1497.045408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.045408 # Seafloor depth:-1537.045408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.531451 meters looking forward 0.000000 meters along route # Maximum depth: 1536.531451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.531451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952100; longitude = -129.964018; captureRadius = 10; duration = 100; initialDepth = 1497.290680; finalDepth = 1496.531451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.531451 # Seafloor depth:-1536.531451 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.290680 meters looking forward 0.000000 meters along route # Maximum depth: 1537.290680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.290680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951205; longitude = -129.963706; captureRadius = 10; duration = 100; initialDepth = 1494.962382; finalDepth = 1497.290680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.29068 # Seafloor depth:-1537.290680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.962382 meters looking forward 0.000000 meters along route # Maximum depth: 1534.962382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.962382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950305; longitude = -129.963391; captureRadius = 10; duration = 100; initialDepth = 1488.423523; finalDepth = 1494.962382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.962382 # Seafloor depth:-1534.962382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1528.423523 meters looking forward 0.000000 meters along route # Maximum depth: 1528.423523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.423523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949390; longitude = -129.963072; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1488.296680; finalDepth = 1488.423523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.423523 # Seafloor depth:-1528.423523 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.296680 meters looking forward 0.000000 meters along route # Maximum depth: 1528.296680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.296680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949270; longitude = -129.963049; captureRadius = 10; duration = 100; initialDepth = 1495.534151; finalDepth = 1488.296680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.29668 # Seafloor depth:-1528.296680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.534151 meters looking forward 0.000000 meters along route # Maximum depth: 1535.534151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.534151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948370; longitude = -129.962873; captureRadius = 10; duration = 100; initialDepth = 1496.237300; finalDepth = 1495.534151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.534151 # Seafloor depth:-1535.534151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.237300 meters looking forward 0.000000 meters along route # Maximum depth: 1536.237300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.237300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947471; longitude = -129.962697; captureRadius = 10; duration = 100; initialDepth = 1496.207306; finalDepth = 1496.237300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.2373 # Seafloor depth:-1536.237300 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.207306 meters looking forward 0.000000 meters along route # Maximum depth: 1536.207306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.207306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946571; longitude = -129.962521; captureRadius = 10; duration = 100; initialDepth = 1494.871003; finalDepth = 1496.207306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.207306 # Seafloor depth:-1536.207306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.871003 meters looking forward 0.000000 meters along route # Maximum depth: 1534.871003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.871003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945671; longitude = -129.962345; captureRadius = 10; duration = 100; initialDepth = 1494.318786; finalDepth = 1494.871003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.871003 # Seafloor depth:-1534.871003 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.318786 meters looking forward 0.000000 meters along route # Maximum depth: 1534.318786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.318786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944771; longitude = -129.962169; captureRadius = 10; duration = 100; initialDepth = 1495.127232; finalDepth = 1494.318786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.318786 # Seafloor depth:-1534.318786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.127232 meters looking forward 0.000000 meters along route # Maximum depth: 1535.127232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.127232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943871; longitude = -129.961993; captureRadius = 10; duration = 100; initialDepth = 1498.839813; finalDepth = 1495.127232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.127232 # Seafloor depth:-1535.127232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.839813 meters looking forward 0.000000 meters along route # Maximum depth: 1538.839813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.839813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942972; longitude = -129.961817; captureRadius = 10; duration = 100; initialDepth = 1500.082981; finalDepth = 1498.839813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.839813 # Seafloor depth:-1538.839813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.082981 meters looking forward 0.000000 meters along route # Maximum depth: 1540.082981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.082981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942072; longitude = -129.961641; captureRadius = 10; duration = 100; initialDepth = 1500.343292; finalDepth = 1500.082981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.082981 # Seafloor depth:-1540.082981 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.343292 meters looking forward 0.000000 meters along route # Maximum depth: 1540.343292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.343292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941172; longitude = -129.961465; captureRadius = 10; duration = 100; initialDepth = 1500.567382; finalDepth = 1500.343292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.343292 # Seafloor depth:-1540.343292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.567382 meters looking forward 0.000000 meters along route # Maximum depth: 1540.567382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.567382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940272; longitude = -129.961289; captureRadius = 10; duration = 100; initialDepth = 1500.951395; finalDepth = 1500.567382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.567382 # Seafloor depth:-1540.567382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.951395 meters looking forward 0.000000 meters along route # Maximum depth: 1540.951395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.951395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939372; longitude = -129.961113; captureRadius = 10; duration = 100; initialDepth = 1501.748561; finalDepth = 1500.951395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.951395 # Seafloor depth:-1540.951395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1541.748561 meters looking forward 0.000000 meters along route # Maximum depth: 1541.748561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.748561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938472; longitude = -129.960937; captureRadius = 10; duration = 100; initialDepth = 1503.278100; finalDepth = 1501.748561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.748561 # Seafloor depth:-1541.748561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1543.278100 meters looking forward 0.000000 meters along route # Maximum depth: 1543.278100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.278100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937573; longitude = -129.960761; captureRadius = 10; duration = 100; initialDepth = 1504.705903; finalDepth = 1503.278100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.2781 # Seafloor depth:-1543.278100 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.705903 meters looking forward 0.000000 meters along route # Maximum depth: 1544.705903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.705903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936673; longitude = -129.960585; captureRadius = 10; duration = 100; initialDepth = 1504.658878; finalDepth = 1504.705903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.705903 # Seafloor depth:-1544.705903 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.658878 meters looking forward 0.000000 meters along route # Maximum depth: 1544.658878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.658878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935773; longitude = -129.960409; captureRadius = 10; duration = 100; initialDepth = 1506.469825; finalDepth = 1504.658878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.658878 # Seafloor depth:-1544.658878 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1546.469825 meters looking forward 0.000000 meters along route # Maximum depth: 1546.469825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.469825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934873; longitude = -129.960233; captureRadius = 10; duration = 100; initialDepth = 1506.979465; finalDepth = 1506.469825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.469825 # Seafloor depth:-1546.469825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1546.979465 meters looking forward 0.000000 meters along route # Maximum depth: 1546.979465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.979465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933973; longitude = -129.960057; captureRadius = 10; duration = 100; initialDepth = 1507.691933; finalDepth = 1506.979465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.979465 # Seafloor depth:-1546.979465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1547.691933 meters looking forward 0.000000 meters along route # Maximum depth: 1547.691933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.691933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933074; longitude = -129.959881; captureRadius = 10; duration = 100; initialDepth = 1509.141307; finalDepth = 1507.691933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.691933 # Seafloor depth:-1547.691933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1549.141307 meters looking forward 0.000000 meters along route # Maximum depth: 1549.141307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.141307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932174; longitude = -129.959705; captureRadius = 10; duration = 100; initialDepth = 1515.899816; finalDepth = 1509.141307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.141307 # Seafloor depth:-1549.141307 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1555.899816 meters looking forward 0.000000 meters along route # Maximum depth: 1555.899816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.899816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931274; longitude = -129.959529; captureRadius = 10; duration = 100; initialDepth = 1521.344170; finalDepth = 1515.899816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.899816 # Seafloor depth:-1555.899816 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1561.344170 meters looking forward 0.000000 meters along route # Maximum depth: 1561.344170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.344170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930374; longitude = -129.959353; captureRadius = 10; duration = 100; initialDepth = 1526.443021; finalDepth = 1521.344170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.34417 # Seafloor depth:-1561.344170 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1566.443021 meters looking forward 0.000000 meters along route # Maximum depth: 1566.443021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.443021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929474; longitude = -129.959177; captureRadius = 10; duration = 100; initialDepth = 1528.759057; finalDepth = 1526.443021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1526.443021 # Seafloor depth:-1566.443021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1568.759057 meters looking forward 0.000000 meters along route # Maximum depth: 1568.759057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.759057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928574; longitude = -129.959001; captureRadius = 10; duration = 100; initialDepth = 1529.162291; finalDepth = 1528.759057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1528.759057 # Seafloor depth:-1568.759057 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1569.162291 meters looking forward 0.000000 meters along route # Maximum depth: 1569.162291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.162291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927675; longitude = -129.958825; captureRadius = 10; duration = 100; initialDepth = 1529.173326; finalDepth = 1529.162291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1529.162291 # Seafloor depth:-1569.162291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1569.173326 meters looking forward 0.000000 meters along route # Maximum depth: 1569.173326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.173326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926775; longitude = -129.958649; captureRadius = 10; duration = 100; initialDepth = 1531.866947; finalDepth = 1529.173326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1529.173326 # Seafloor depth:-1569.173326 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1571.866947 meters looking forward 0.000000 meters along route # Maximum depth: 1571.866947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.866947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925875; longitude = -129.958473; captureRadius = 10; duration = 100; initialDepth = 1537.380581; finalDepth = 1531.866947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.866947 # Seafloor depth:-1571.866947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1577.380581 meters looking forward 0.000000 meters along route # Maximum depth: 1577.380581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.380581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924975; longitude = -129.958297; captureRadius = 10; duration = 100; initialDepth = 1543.777859; finalDepth = 1537.380581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1537.380581 # Seafloor depth:-1577.380581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1583.777859 meters looking forward 0.000000 meters along route # Maximum depth: 1583.777859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.777859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924075; longitude = -129.958121; captureRadius = 10; duration = 100; initialDepth = 1542.273265; finalDepth = 1543.777859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1543.777859 # Seafloor depth:-1583.777859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1582.273265 meters looking forward 0.000000 meters along route # Maximum depth: 1582.273265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.273265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923175; longitude = -129.957945; captureRadius = 10; duration = 100; initialDepth = 1543.150280; finalDepth = 1542.273265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1542.273265 # Seafloor depth:-1582.273265 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1583.150280 meters looking forward 0.000000 meters along route # Maximum depth: 1583.150280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.150280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922276; longitude = -129.957769; captureRadius = 10; duration = 100; initialDepth = 1541.048256; finalDepth = 1543.150280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1543.15028 # Seafloor depth:-1583.150280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1581.048256 meters looking forward 0.000000 meters along route # Maximum depth: 1581.048256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.048256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921376; longitude = -129.957593; captureRadius = 10; duration = 100; initialDepth = 1546.119304; finalDepth = 1541.048256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1541.048256 # Seafloor depth:-1581.048256 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1586.119304 meters looking forward 0.000000 meters along route # Maximum depth: 1586.119304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.119304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920476; longitude = -129.957417; captureRadius = 10; duration = 100; initialDepth = 1545.571796; finalDepth = 1546.119304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1546.119304 # Seafloor depth:-1586.119304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1585.571796 meters looking forward 0.000000 meters along route # Maximum depth: 1585.571796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.571796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919576; longitude = -129.957241; captureRadius = 10; duration = 100; initialDepth = 1549.678206; finalDepth = 1545.571796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1545.571796 # Seafloor depth:-1585.571796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1589.678206 meters looking forward 0.000000 meters along route # Maximum depth: 1589.678206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.678206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918676; longitude = -129.957065; captureRadius = 10; duration = 100; initialDepth = 1553.345852; finalDepth = 1549.678206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1549.678206 # Seafloor depth:-1589.678206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1593.345852 meters looking forward 0.000000 meters along route # Maximum depth: 1593.345852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.345852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917777; longitude = -129.956889; captureRadius = 10; duration = 100; initialDepth = 1560.851099; finalDepth = 1553.345852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1553.345852 # Seafloor depth:-1593.345852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1600.851099 meters looking forward 0.000000 meters along route # Maximum depth: 1600.851099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.851099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916877; longitude = -129.956713; captureRadius = 10; duration = 100; initialDepth = 1562.489355; finalDepth = 1560.851099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1560.851099 # Seafloor depth:-1600.851099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1602.489355 meters looking forward 0.000000 meters along route # Maximum depth: 1602.489355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.489355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915977; longitude = -129.956537; captureRadius = 10; duration = 100; initialDepth = 1565.925054; finalDepth = 1562.489355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1562.489355 # Seafloor depth:-1602.489355 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1605.925054 meters looking forward 0.000000 meters along route # Maximum depth: 1605.925054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.925054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915077; longitude = -129.956361; captureRadius = 10; duration = 100; initialDepth = 1568.751126; finalDepth = 1565.925054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1565.925054 # Seafloor depth:-1605.925054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1608.751126 meters looking forward 0.000000 meters along route # Maximum depth: 1608.751126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.751126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914177; longitude = -129.956185; captureRadius = 10; duration = 100; initialDepth = 1570.295175; finalDepth = 1568.751126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1568.751126 # Seafloor depth:-1608.751126 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1610.295175 meters looking forward 0.000000 meters along route # Maximum depth: 1610.295175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1570.295175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913277; longitude = -129.956009; captureRadius = 10; duration = 100; initialDepth = 1573.955638; finalDepth = 1570.295175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1570.295175 # Seafloor depth:-1610.295175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1613.955638 meters looking forward 0.000000 meters along route # Maximum depth: 1613.955638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.955638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912378; longitude = -129.955833; captureRadius = 10; duration = 100; initialDepth = 1575.475314; finalDepth = 1573.955638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1573.955638 # Seafloor depth:-1613.955638 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1615.475314 meters looking forward 0.000000 meters along route # Maximum depth: 1615.475314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.475314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911478; longitude = -129.955657; captureRadius = 10; duration = 100; initialDepth = 1579.438747; finalDepth = 1575.475314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1575.475314 # Seafloor depth:-1615.475314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1619.438747 meters looking forward 0.000000 meters along route # Maximum depth: 1619.438747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.438747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910578; longitude = -129.955481; captureRadius = 10; duration = 100; initialDepth = 1584.380830; finalDepth = 1579.438747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1579.438747 # Seafloor depth:-1619.438747 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1624.380830 meters looking forward 0.000000 meters along route # Maximum depth: 1624.380830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.380830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909678; longitude = -129.955305; captureRadius = 10; duration = 100; initialDepth = 1588.920910; finalDepth = 1584.380830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1584.38083 # Seafloor depth:-1624.380830 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1628.920910 meters looking forward 0.000000 meters along route # Maximum depth: 1628.920910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.920910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908778; longitude = -129.955129; captureRadius = 10; duration = 100; initialDepth = 1592.140564; finalDepth = 1588.920910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1588.92091 # Seafloor depth:-1628.920910 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 100.957825 meters # Minimum depth: 1632.140564 meters looking forward 0.000000 meters along route # Maximum depth: 1632.140564 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.140564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907843; longitude = -129.954946; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1590.911920; finalDepth = 1592.140564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1592.140564 # Seafloor depth:-1632.140564 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1630.911920 meters looking forward 0.000000 meters along route # Maximum depth: 1630.911920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.911920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907757; longitude = -129.955696; captureRadius = 10; duration = 100; initialDepth = 1587.620911; finalDepth = 1590.911920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1590.91192 # Seafloor depth:-1630.911920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 100.957825 meters # Minimum depth: 1627.620911 meters looking forward 0.000000 meters along route # Maximum depth: 1627.620911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.620911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907609; longitude = -129.956997; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1587.565626; finalDepth = 1587.620911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1587.620911 # Seafloor depth:-1627.620911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1627.565626 meters looking forward 0.000000 meters along route # Maximum depth: 1627.565626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.565626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907744; longitude = -129.957023; captureRadius = 10; duration = 100; initialDepth = 1582.877839; finalDepth = 1587.565626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1587.565626 # Seafloor depth:-1627.565626 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1622.877839 meters looking forward 0.000000 meters along route # Maximum depth: 1622.877839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.877839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908643; longitude = -129.957198; captureRadius = 10; duration = 100; initialDepth = 1578.453517; finalDepth = 1582.877839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1582.877839 # Seafloor depth:-1622.877839 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1618.453517 meters looking forward 0.000000 meters along route # Maximum depth: 1618.453517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.453517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909548; longitude = -129.957374; captureRadius = 10; duration = 100; initialDepth = 1577.713499; finalDepth = 1578.453517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1578.453517 # Seafloor depth:-1618.453517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1617.713499 meters looking forward 0.000000 meters along route # Maximum depth: 1617.713499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.713499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910443; longitude = -129.957547; captureRadius = 10; duration = 100; initialDepth = 1577.187765; finalDepth = 1577.713499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1577.713499 # Seafloor depth:-1617.713499 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1617.187765 meters looking forward 0.000000 meters along route # Maximum depth: 1617.187765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.187765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911343; longitude = -129.957722; captureRadius = 10; duration = 100; initialDepth = 1571.668003; finalDepth = 1577.187765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1577.187765 # Seafloor depth:-1617.187765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1611.668003 meters looking forward 0.000000 meters along route # Maximum depth: 1611.668003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.668003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912243; longitude = -129.957897; captureRadius = 10; duration = 100; initialDepth = 1566.581124; finalDepth = 1571.668003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1571.668003 # Seafloor depth:-1611.668003 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1606.581124 meters looking forward 0.000000 meters along route # Maximum depth: 1606.581124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.581124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913142; longitude = -129.958071; captureRadius = 10; duration = 100; initialDepth = 1563.313853; finalDepth = 1566.581124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1566.581124 # Seafloor depth:-1606.581124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1603.313853 meters looking forward 0.000000 meters along route # Maximum depth: 1603.313853 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.313853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914042; longitude = -129.958246; captureRadius = 10; duration = 100; initialDepth = 1563.546376; finalDepth = 1563.313853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1563.313853 # Seafloor depth:-1603.313853 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1603.546376 meters looking forward 0.000000 meters along route # Maximum depth: 1603.546376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.546376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914942; longitude = -129.958421; captureRadius = 10; duration = 100; initialDepth = 1561.786061; finalDepth = 1563.546376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1563.546376 # Seafloor depth:-1603.546376 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1601.786061 meters looking forward 0.000000 meters along route # Maximum depth: 1601.786061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.786061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915842; longitude = -129.958596; captureRadius = 10; duration = 100; initialDepth = 1557.778959; finalDepth = 1561.786061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1561.786061 # Seafloor depth:-1601.786061 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1597.778959 meters looking forward 0.000000 meters along route # Maximum depth: 1597.778959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1557.778959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916742; longitude = -129.958770; captureRadius = 10; duration = 100; initialDepth = 1552.726711; finalDepth = 1557.778959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1557.778959 # Seafloor depth:-1597.778959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1592.726711 meters looking forward 0.000000 meters along route # Maximum depth: 1592.726711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.726711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917642; longitude = -129.958945; captureRadius = 10; duration = 100; initialDepth = 1545.742083; finalDepth = 1552.726711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1552.726711 # Seafloor depth:-1592.726711 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1585.742083 meters looking forward 0.000000 meters along route # Maximum depth: 1585.742083 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1545.742083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918541; longitude = -129.959120; captureRadius = 10; duration = 100; initialDepth = 1543.023734; finalDepth = 1545.742083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1545.742083 # Seafloor depth:-1585.742083 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1583.023734 meters looking forward 0.000000 meters along route # Maximum depth: 1583.023734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.023734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919441; longitude = -129.959294; captureRadius = 10; duration = 100; initialDepth = 1543.984610; finalDepth = 1543.023734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1543.023734 # Seafloor depth:-1583.023734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1583.984610 meters looking forward 0.000000 meters along route # Maximum depth: 1583.984610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.984610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920341; longitude = -129.959469; captureRadius = 10; duration = 100; initialDepth = 1538.397476; finalDepth = 1543.984610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1543.98461 # Seafloor depth:-1583.984610 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1578.397476 meters looking forward 0.000000 meters along route # Maximum depth: 1578.397476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.397476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921241; longitude = -129.959644; captureRadius = 10; duration = 100; initialDepth = 1533.942931; finalDepth = 1538.397476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1538.397476 # Seafloor depth:-1578.397476 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1573.942931 meters looking forward 0.000000 meters along route # Maximum depth: 1573.942931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.942931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922141; longitude = -129.959819; captureRadius = 10; duration = 100; initialDepth = 1531.366515; finalDepth = 1533.942931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1533.942931 # Seafloor depth:-1573.942931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1571.366515 meters looking forward 0.000000 meters along route # Maximum depth: 1571.366515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.366515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923041; longitude = -129.959993; captureRadius = 10; duration = 100; initialDepth = 1524.670391; finalDepth = 1531.366515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.366515 # Seafloor depth:-1571.366515 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1564.670391 meters looking forward 0.000000 meters along route # Maximum depth: 1564.670391 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.670391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923940; longitude = -129.960168; captureRadius = 10; duration = 100; initialDepth = 1523.798730; finalDepth = 1524.670391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.670391 # Seafloor depth:-1564.670391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1563.798730 meters looking forward 0.000000 meters along route # Maximum depth: 1563.798730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.798730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924840; longitude = -129.960343; captureRadius = 10; duration = 100; initialDepth = 1521.602772; finalDepth = 1523.798730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.79873 # Seafloor depth:-1563.798730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1561.602772 meters looking forward 0.000000 meters along route # Maximum depth: 1561.602772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.602772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925740; longitude = -129.960517; captureRadius = 10; duration = 100; initialDepth = 1521.543517; finalDepth = 1521.602772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.602772 # Seafloor depth:-1561.602772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1561.543517 meters looking forward 0.000000 meters along route # Maximum depth: 1561.543517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.543517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926640; longitude = -129.960692; captureRadius = 10; duration = 100; initialDepth = 1519.946525; finalDepth = 1521.543517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.543517 # Seafloor depth:-1561.543517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.946525 meters looking forward 0.000000 meters along route # Maximum depth: 1559.946525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.946525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927540; longitude = -129.960867; captureRadius = 10; duration = 100; initialDepth = 1518.189053; finalDepth = 1519.946525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.946525 # Seafloor depth:-1559.946525 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1558.189053 meters looking forward 0.000000 meters along route # Maximum depth: 1558.189053 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.189053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928439; longitude = -129.961041; captureRadius = 10; duration = 100; initialDepth = 1511.910324; finalDepth = 1518.189053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1518.189053 # Seafloor depth:-1558.189053 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1551.910324 meters looking forward 0.000000 meters along route # Maximum depth: 1551.910324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.910324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929339; longitude = -129.961216; captureRadius = 10; duration = 100; initialDepth = 1505.675980; finalDepth = 1511.910324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.910324 # Seafloor depth:-1551.910324 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1545.675980 meters looking forward 0.000000 meters along route # Maximum depth: 1545.675980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.675980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930239; longitude = -129.961391; captureRadius = 10; duration = 100; initialDepth = 1500.510279; finalDepth = 1505.675980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.67598 # Seafloor depth:-1545.675980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.510279 meters looking forward 0.000000 meters along route # Maximum depth: 1540.510279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.510279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931144; longitude = -129.961567; captureRadius = 10; duration = 100; initialDepth = 1500.206984; finalDepth = 1500.510279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.510279 # Seafloor depth:-1540.510279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.206984 meters looking forward 0.000000 meters along route # Maximum depth: 1540.206984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.206984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932039; longitude = -129.961740; captureRadius = 10; duration = 100; initialDepth = 1500.322682; finalDepth = 1500.206984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.206984 # Seafloor depth:-1540.206984 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.322682 meters looking forward 0.000000 meters along route # Maximum depth: 1540.322682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.322682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932939; longitude = -129.961915; captureRadius = 10; duration = 100; initialDepth = 1499.283050; finalDepth = 1500.322682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.322682 # Seafloor depth:-1540.322682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.283050 meters looking forward 0.000000 meters along route # Maximum depth: 1539.283050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.283050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933838; longitude = -129.962090; captureRadius = 10; duration = 100; initialDepth = 1496.378601; finalDepth = 1499.283050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.28305 # Seafloor depth:-1539.283050 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.378601 meters looking forward 0.000000 meters along route # Maximum depth: 1536.378601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.378601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934738; longitude = -129.962264; captureRadius = 10; duration = 100; initialDepth = 1497.078583; finalDepth = 1496.378601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.378601 # Seafloor depth:-1536.378601 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.078583 meters looking forward 0.000000 meters along route # Maximum depth: 1537.078583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.078583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935638; longitude = -129.962439; captureRadius = 10; duration = 100; initialDepth = 1497.526652; finalDepth = 1497.078583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.078583 # Seafloor depth:-1537.078583 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.526652 meters looking forward 0.000000 meters along route # Maximum depth: 1537.526652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.526652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936538; longitude = -129.962614; captureRadius = 10; duration = 100; initialDepth = 1497.068922; finalDepth = 1497.526652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.526652 # Seafloor depth:-1537.526652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.068922 meters looking forward 0.000000 meters along route # Maximum depth: 1537.068922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.068922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937438; longitude = -129.962789; captureRadius = 10; duration = 100; initialDepth = 1496.742013; finalDepth = 1497.068922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.068922 # Seafloor depth:-1537.068922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.742013 meters looking forward 0.000000 meters along route # Maximum depth: 1536.742013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.742013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938337; longitude = -129.962963; captureRadius = 10; duration = 100; initialDepth = 1496.013658; finalDepth = 1496.742013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.742013 # Seafloor depth:-1536.742013 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.013658 meters looking forward 0.000000 meters along route # Maximum depth: 1536.013658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.013658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939237; longitude = -129.963138; captureRadius = 10; duration = 100; initialDepth = 1499.553905; finalDepth = 1496.013658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.013658 # Seafloor depth:-1536.013658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.553905 meters looking forward 0.000000 meters along route # Maximum depth: 1539.553905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.553905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940137; longitude = -129.963313; captureRadius = 10; duration = 100; initialDepth = 1498.022147; finalDepth = 1499.553905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.553905 # Seafloor depth:-1539.553905 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.022147 meters looking forward 0.000000 meters along route # Maximum depth: 1538.022147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.022147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941037; longitude = -129.963487; captureRadius = 10; duration = 100; initialDepth = 1497.652694; finalDepth = 1498.022147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.022147 # Seafloor depth:-1538.022147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.652694 meters looking forward 0.000000 meters along route # Maximum depth: 1537.652694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.652694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941937; longitude = -129.963662; captureRadius = 10; duration = 100; initialDepth = 1497.960831; finalDepth = 1497.652694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.652694 # Seafloor depth:-1537.652694 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.960831 meters looking forward 0.000000 meters along route # Maximum depth: 1537.960831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.960831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942837; longitude = -129.963837; captureRadius = 10; duration = 100; initialDepth = 1494.365519; finalDepth = 1497.960831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.960831 # Seafloor depth:-1537.960831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.365519 meters looking forward 0.000000 meters along route # Maximum depth: 1534.365519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.365519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943736; longitude = -129.964012; captureRadius = 10; duration = 100; initialDepth = 1492.957747; finalDepth = 1494.365519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.365519 # Seafloor depth:-1534.365519 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.957747 meters looking forward 0.000000 meters along route # Maximum depth: 1532.957747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.957747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944636; longitude = -129.964186; captureRadius = 10; duration = 100; initialDepth = 1493.431415; finalDepth = 1492.957747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.957747 # Seafloor depth:-1532.957747 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.431415 meters looking forward 0.000000 meters along route # Maximum depth: 1533.431415 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.431415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945536; longitude = -129.964361; captureRadius = 10; duration = 100; initialDepth = 1495.433734; finalDepth = 1493.431415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.431415 # Seafloor depth:-1533.431415 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.433734 meters looking forward 0.000000 meters along route # Maximum depth: 1535.433734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.433734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946436; longitude = -129.964536; captureRadius = 10; duration = 100; initialDepth = 1498.492292; finalDepth = 1495.433734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.433734 # Seafloor depth:-1535.433734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.492292 meters looking forward 0.000000 meters along route # Maximum depth: 1538.492292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.492292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947336; longitude = -129.964710; captureRadius = 10; duration = 100; initialDepth = 1495.715885; finalDepth = 1498.492292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.492292 # Seafloor depth:-1538.492292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.715885 meters looking forward 0.000000 meters along route # Maximum depth: 1535.715885 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.715885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948236; longitude = -129.964885; captureRadius = 10; duration = 100; initialDepth = 1493.053040; finalDepth = 1495.715885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.715885 # Seafloor depth:-1535.715885 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1533.053040 meters looking forward 0.000000 meters along route # Maximum depth: 1533.053040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.053040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949131; longitude = -129.965059; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1493.356034; finalDepth = 1493.053040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.05304 # Seafloor depth:-1533.053040 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.356034 meters looking forward 0.000000 meters along route # Maximum depth: 1533.356034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.356034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949495; longitude = -129.965186; captureRadius = 10; duration = 100; initialDepth = 1497.730814; finalDepth = 1493.356034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.356034 # Seafloor depth:-1533.356034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.730814 meters looking forward 0.000000 meters along route # Maximum depth: 1537.730814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.730814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950402; longitude = -129.965502; captureRadius = 10; duration = 100; initialDepth = 1495.449017; finalDepth = 1497.730814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.730814 # Seafloor depth:-1537.730814 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.449017 meters looking forward 0.000000 meters along route # Maximum depth: 1535.449017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.449017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951295; longitude = -129.965813; captureRadius = 10; duration = 100; initialDepth = 1495.448079; finalDepth = 1495.449017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.449017 # Seafloor depth:-1535.449017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.448079 meters looking forward 0.000000 meters along route # Maximum depth: 1535.448079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.448079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952195; longitude = -129.966127; captureRadius = 10; duration = 100; initialDepth = 1496.510937; finalDepth = 1495.448079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.448079 # Seafloor depth:-1535.448079 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.510937 meters looking forward 0.000000 meters along route # Maximum depth: 1536.510937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.510937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953095; longitude = -129.966440; captureRadius = 10; duration = 100; initialDepth = 1495.733933; finalDepth = 1496.510937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.510937 # Seafloor depth:-1536.510937 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.733933 meters looking forward 0.000000 meters along route # Maximum depth: 1535.733933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.733933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953994; longitude = -129.966754; captureRadius = 10; duration = 100; initialDepth = 1496.392021; finalDepth = 1495.733933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.733933 # Seafloor depth:-1535.733933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.392021 meters looking forward 0.000000 meters along route # Maximum depth: 1536.392021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.392021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954894; longitude = -129.967067; captureRadius = 10; duration = 100; initialDepth = 1494.669587; finalDepth = 1496.392021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.392021 # Seafloor depth:-1536.392021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.669587 meters looking forward 0.000000 meters along route # Maximum depth: 1534.669587 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.669587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955771; longitude = -129.967373; captureRadius = 10; duration = 100; initialDepth = 1494.968826; finalDepth = 1494.669587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.669587 # Seafloor depth:-1534.669587 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.968826 meters looking forward 0.000000 meters along route # Maximum depth: 1534.968826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.968826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956649; longitude = -129.967679; captureRadius = 10; duration = 100; initialDepth = 1494.237486; finalDepth = 1494.968826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.968826 # Seafloor depth:-1534.968826 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.237486 meters looking forward 0.000000 meters along route # Maximum depth: 1534.237486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.237486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957549; longitude = -129.967992; captureRadius = 10; duration = 100; initialDepth = 1494.847366; finalDepth = 1494.237486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.237486 # Seafloor depth:-1534.237486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.847366 meters looking forward 0.000000 meters along route # Maximum depth: 1534.847366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.847366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958449; longitude = -129.968306; captureRadius = 10; duration = 100; initialDepth = 1493.508755; finalDepth = 1494.847366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.847366 # Seafloor depth:-1534.847366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.508755 meters looking forward 0.000000 meters along route # Maximum depth: 1533.508755 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.508755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959348; longitude = -129.968619; captureRadius = 10; duration = 100; initialDepth = 1494.133584; finalDepth = 1493.508755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.508755 # Seafloor depth:-1533.508755 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.133584 meters looking forward 0.000000 meters along route # Maximum depth: 1534.133584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.133584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960248; longitude = -129.968933; captureRadius = 10; duration = 100; initialDepth = 1495.726737; finalDepth = 1494.133584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.133584 # Seafloor depth:-1534.133584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.726737 meters looking forward 0.000000 meters along route # Maximum depth: 1535.726737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.726737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961148; longitude = -129.969246; captureRadius = 10; duration = 100; initialDepth = 1496.181521; finalDepth = 1495.726737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.726737 # Seafloor depth:-1535.726737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.181521 meters looking forward 0.000000 meters along route # Maximum depth: 1536.181521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.181521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962065; longitude = -129.969566; captureRadius = 10; duration = 100; initialDepth = 1497.919040; finalDepth = 1496.181521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.181521 # Seafloor depth:-1536.181521 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.919040 meters looking forward 0.000000 meters along route # Maximum depth: 1537.919040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.919040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962948; longitude = -129.969873; captureRadius = 10; duration = 100; initialDepth = 1498.037759; finalDepth = 1497.919040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.91904 # Seafloor depth:-1537.919040 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.037759 meters looking forward 0.000000 meters along route # Maximum depth: 1538.037759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.037759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963847; longitude = -129.970187; captureRadius = 10; duration = 100; initialDepth = 1498.370000; finalDepth = 1498.037759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.037759 # Seafloor depth:-1538.037759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.370000 meters looking forward 0.000000 meters along route # Maximum depth: 1538.370000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.370000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964747; longitude = -129.970500; captureRadius = 10; duration = 100; initialDepth = 1497.851167; finalDepth = 1498.370000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.37 # Seafloor depth:-1538.370000 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.851167 meters looking forward 0.000000 meters along route # Maximum depth: 1537.851167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.851167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965647; longitude = -129.970814; captureRadius = 10; duration = 100; initialDepth = 1492.735245; finalDepth = 1497.851167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.851167 # Seafloor depth:-1537.851167 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.735245 meters looking forward 0.000000 meters along route # Maximum depth: 1532.735245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.735245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966547; longitude = -129.971127; captureRadius = 10; duration = 100; initialDepth = 1487.060132; finalDepth = 1492.735245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.735245 # Seafloor depth:-1532.735245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.060132 meters looking forward 0.000000 meters along route # Maximum depth: 1527.060132 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.060132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967447; longitude = -129.971441; captureRadius = 10; duration = 100; initialDepth = 1484.978974; finalDepth = 1487.060132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.060132 # Seafloor depth:-1527.060132 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.978974 meters looking forward 0.000000 meters along route # Maximum depth: 1524.978974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.978974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968360; longitude = -129.971759; captureRadius = 10; duration = 100; initialDepth = 1482.528142; finalDepth = 1484.978974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.978974 # Seafloor depth:-1524.978974 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.528142 meters looking forward 0.000000 meters along route # Maximum depth: 1522.528142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.528142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969246; longitude = -129.972068; captureRadius = 10; duration = 100; initialDepth = 1484.462274; finalDepth = 1482.528142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.528142 # Seafloor depth:-1522.528142 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.462274 meters looking forward 0.000000 meters along route # Maximum depth: 1524.462274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.462274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970146; longitude = -129.972382; captureRadius = 10; duration = 100; initialDepth = 1483.217350; finalDepth = 1484.462274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.462274 # Seafloor depth:-1524.462274 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.217350 meters looking forward 0.000000 meters along route # Maximum depth: 1523.217350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.217350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971046; longitude = -129.972695; captureRadius = 10; duration = 100; initialDepth = 1483.768730; finalDepth = 1483.217350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.21735 # Seafloor depth:-1523.217350 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.768730 meters looking forward 0.000000 meters along route # Maximum depth: 1523.768730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.768730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971946; longitude = -129.973009; captureRadius = 10; duration = 100; initialDepth = 1488.456315; finalDepth = 1483.768730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.76873 # Seafloor depth:-1523.768730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.456315 meters looking forward 0.000000 meters along route # Maximum depth: 1528.456315 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.456315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972846; longitude = -129.973322; captureRadius = 10; duration = 100; initialDepth = 1488.219548; finalDepth = 1488.456315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.456315 # Seafloor depth:-1528.456315 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.219548 meters looking forward 0.000000 meters along route # Maximum depth: 1528.219548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.219548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973745; longitude = -129.973636; captureRadius = 10; duration = 100; initialDepth = 1485.661913; finalDepth = 1488.219548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.219548 # Seafloor depth:-1528.219548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.661913 meters looking forward 0.000000 meters along route # Maximum depth: 1525.661913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.661913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974655; longitude = -129.973953; captureRadius = 10; duration = 100; initialDepth = 1485.235209; finalDepth = 1485.661913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.661913 # Seafloor depth:-1525.661913 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.235209 meters looking forward 0.000000 meters along route # Maximum depth: 1525.235209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.235209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975545; longitude = -129.974263; captureRadius = 10; duration = 100; initialDepth = 1485.503987; finalDepth = 1485.235209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.235209 # Seafloor depth:-1525.235209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.503987 meters looking forward 0.000000 meters along route # Maximum depth: 1525.503987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.503987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976445; longitude = -129.974576; captureRadius = 10; duration = 100; initialDepth = 1468.765228; finalDepth = 1485.503987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.503987 # Seafloor depth:-1525.503987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 100.957825 meters # Minimum depth: 1508.765228 meters looking forward 0.000000 meters along route # Maximum depth: 1508.765228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.765228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.977322; longitude = -129.974882; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1462.250765; finalDepth = 1468.765228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.765228 # Seafloor depth:-1508.765228 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1502.250765 meters looking forward 0.000000 meters along route # Maximum depth: 1502.250765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.250765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976973; longitude = -129.975501; captureRadius = 10; duration = 100; initialDepth = 1458.413483; finalDepth = 1462.250765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1462.250765 # Seafloor depth:-1502.250765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1498.413483 meters looking forward 0.000000 meters along route # Maximum depth: 1498.413483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.413483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.976377; longitude = -129.976558; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1461.708347; finalDepth = 1458.413483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.413483 # Seafloor depth:-1498.413483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1501.708347 meters looking forward 0.000000 meters along route # Maximum depth: 1501.708347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.708347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.975725; longitude = -129.976331; captureRadius = 10; duration = 100; initialDepth = 1465.795759; finalDepth = 1461.708347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.708347 # Seafloor depth:-1501.708347 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1505.795759 meters looking forward 0.000000 meters along route # Maximum depth: 1505.795759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.795759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974821; longitude = -129.976017; captureRadius = 10; duration = 100; initialDepth = 1482.220205; finalDepth = 1465.795759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.795759 # Seafloor depth:-1505.795759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.220205 meters looking forward 0.000000 meters along route # Maximum depth: 1522.220205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.220205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973925; longitude = -129.975705; captureRadius = 10; duration = 100; initialDepth = 1484.522094; finalDepth = 1482.220205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.220205 # Seafloor depth:-1522.220205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.522094 meters looking forward 0.000000 meters along route # Maximum depth: 1524.522094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.522094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973026; longitude = -129.975392; captureRadius = 10; duration = 100; initialDepth = 1482.903487; finalDepth = 1484.522094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.522094 # Seafloor depth:-1524.522094 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.903487 meters looking forward 0.000000 meters along route # Maximum depth: 1522.903487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.903487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972126; longitude = -129.975079; captureRadius = 10; duration = 100; initialDepth = 1482.026776; finalDepth = 1482.903487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.903487 # Seafloor depth:-1522.903487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.026776 meters looking forward 0.000000 meters along route # Maximum depth: 1522.026776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.026776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971226; longitude = -129.974766; captureRadius = 10; duration = 100; initialDepth = 1481.783679; finalDepth = 1482.026776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.026776 # Seafloor depth:-1522.026776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.783679 meters looking forward 0.000000 meters along route # Maximum depth: 1521.783679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.783679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970326; longitude = -129.974453; captureRadius = 10; duration = 100; initialDepth = 1481.970242; finalDepth = 1481.783679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.783679 # Seafloor depth:-1521.783679 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.970242 meters looking forward 0.000000 meters along route # Maximum depth: 1521.970242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.970242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969426; longitude = -129.974140; captureRadius = 10; duration = 100; initialDepth = 1482.389891; finalDepth = 1481.970242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.970242 # Seafloor depth:-1521.970242 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.389891 meters looking forward 0.000000 meters along route # Maximum depth: 1522.389891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.389891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968515; longitude = -129.973824; captureRadius = 10; duration = 100; initialDepth = 1482.205640; finalDepth = 1482.389891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.389891 # Seafloor depth:-1522.389891 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.205640 meters looking forward 0.000000 meters along route # Maximum depth: 1522.205640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.205640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967627; longitude = -129.973515; captureRadius = 10; duration = 100; initialDepth = 1486.084260; finalDepth = 1482.205640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.20564 # Seafloor depth:-1522.205640 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.084260 meters looking forward 0.000000 meters along route # Maximum depth: 1526.084260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.084260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966727; longitude = -129.973202; captureRadius = 10; duration = 100; initialDepth = 1488.091299; finalDepth = 1486.084260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.08426 # Seafloor depth:-1526.084260 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.091299 meters looking forward 0.000000 meters along route # Maximum depth: 1528.091299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.091299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965827; longitude = -129.972889; captureRadius = 10; duration = 100; initialDepth = 1493.952662; finalDepth = 1488.091299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.091299 # Seafloor depth:-1528.091299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.952662 meters looking forward 0.000000 meters along route # Maximum depth: 1533.952662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.952662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964927; longitude = -129.972576; captureRadius = 10; duration = 100; initialDepth = 1494.455261; finalDepth = 1493.952662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.952662 # Seafloor depth:-1533.952662 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.455261 meters looking forward 0.000000 meters along route # Maximum depth: 1534.455261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.455261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964027; longitude = -129.972263; captureRadius = 10; duration = 100; initialDepth = 1493.468386; finalDepth = 1494.455261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.455261 # Seafloor depth:-1534.455261 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.468386 meters looking forward 0.000000 meters along route # Maximum depth: 1533.468386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.468386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963128; longitude = -129.971950; captureRadius = 10; duration = 100; initialDepth = 1493.421814; finalDepth = 1493.468386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.468386 # Seafloor depth:-1533.468386 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.421814 meters looking forward 0.000000 meters along route # Maximum depth: 1533.421814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.421814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962209; longitude = -129.971630; captureRadius = 10; duration = 100; initialDepth = 1493.039349; finalDepth = 1493.421814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.421814 # Seafloor depth:-1533.421814 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.039349 meters looking forward 0.000000 meters along route # Maximum depth: 1533.039349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.039349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961328; longitude = -129.971324; captureRadius = 10; duration = 100; initialDepth = 1492.142036; finalDepth = 1493.039349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.039349 # Seafloor depth:-1533.039349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.142036 meters looking forward 0.000000 meters along route # Maximum depth: 1532.142036 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.142036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960428; longitude = -129.971011; captureRadius = 10; duration = 100; initialDepth = 1491.990441; finalDepth = 1492.142036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.142036 # Seafloor depth:-1532.142036 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.990441 meters looking forward 0.000000 meters along route # Maximum depth: 1531.990441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.990441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959528; longitude = -129.970698; captureRadius = 10; duration = 100; initialDepth = 1492.096743; finalDepth = 1491.990441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.990441 # Seafloor depth:-1531.990441 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.096743 meters looking forward 0.000000 meters along route # Maximum depth: 1532.096743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.096743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958628; longitude = -129.970385; captureRadius = 10; duration = 100; initialDepth = 1489.420713; finalDepth = 1492.096743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.096743 # Seafloor depth:-1532.096743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.420713 meters looking forward 0.000000 meters along route # Maximum depth: 1529.420713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.420713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957729; longitude = -129.970072; captureRadius = 10; duration = 100; initialDepth = 1490.297110; finalDepth = 1489.420713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.420713 # Seafloor depth:-1529.420713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.297110 meters looking forward 0.000000 meters along route # Maximum depth: 1530.297110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.297110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956829; longitude = -129.969759; captureRadius = 10; duration = 100; initialDepth = 1492.004109; finalDepth = 1490.297110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.29711 # Seafloor depth:-1530.297110 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.004109 meters looking forward 0.000000 meters along route # Maximum depth: 1532.004109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.004109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955929; longitude = -129.969446; captureRadius = 10; duration = 100; initialDepth = 1492.714046; finalDepth = 1492.004109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.004109 # Seafloor depth:-1532.004109 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.714046 meters looking forward 0.000000 meters along route # Maximum depth: 1532.714046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.714046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955029; longitude = -129.969133; captureRadius = 10; duration = 100; initialDepth = 1493.775818; finalDepth = 1492.714046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.714046 # Seafloor depth:-1532.714046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.775818 meters looking forward 0.000000 meters along route # Maximum depth: 1533.775818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.775818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954129; longitude = -129.968820; captureRadius = 10; duration = 100; initialDepth = 1493.909860; finalDepth = 1493.775818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.775818 # Seafloor depth:-1533.775818 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.909860 meters looking forward 0.000000 meters along route # Maximum depth: 1533.909860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.909860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953230; longitude = -129.968507; captureRadius = 10; duration = 100; initialDepth = 1494.014451; finalDepth = 1493.909860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.90986 # Seafloor depth:-1533.909860 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.014451 meters looking forward 0.000000 meters along route # Maximum depth: 1534.014451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.014451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952330; longitude = -129.968194; captureRadius = 10; duration = 100; initialDepth = 1495.730373; finalDepth = 1494.014451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.014451 # Seafloor depth:-1534.014451 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.730373 meters looking forward 0.000000 meters along route # Maximum depth: 1535.730373 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.730373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951452; longitude = -129.967889; captureRadius = 10; duration = 100; initialDepth = 1495.356996; finalDepth = 1495.730373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.730373 # Seafloor depth:-1535.730373 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.356996 meters looking forward 0.000000 meters along route # Maximum depth: 1535.356996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.356996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950575; longitude = -129.967584; captureRadius = 10; duration = 100; initialDepth = 1496.395459; finalDepth = 1495.356996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.356996 # Seafloor depth:-1535.356996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.395459 meters looking forward 0.000000 meters along route # Maximum depth: 1536.395459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.395459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949675; longitude = -129.967271; captureRadius = 10; duration = 100; initialDepth = 1496.102386; finalDepth = 1496.395459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.395459 # Seafloor depth:-1536.395459 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 100.957825 meters # Minimum depth: 1536.102386 meters looking forward 0.000000 meters along route # Maximum depth: 1536.102386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.102386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948756; longitude = -129.966951; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1497.854359; finalDepth = 1496.102386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.102386 # Seafloor depth:-1536.102386 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.854359 meters looking forward 0.000000 meters along route # Maximum depth: 1537.854359 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.854359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947921; longitude = -129.966789; captureRadius = 10; duration = 100; initialDepth = 1497.082251; finalDepth = 1497.854359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.854359 # Seafloor depth:-1537.854359 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.082251 meters looking forward 0.000000 meters along route # Maximum depth: 1537.082251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.082251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947021; longitude = -129.966614; captureRadius = 10; duration = 100; initialDepth = 1496.002648; finalDepth = 1497.082251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.082251 # Seafloor depth:-1537.082251 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.002648 meters looking forward 0.000000 meters along route # Maximum depth: 1536.002648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.002648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946121; longitude = -129.966439; captureRadius = 10; duration = 100; initialDepth = 1495.053806; finalDepth = 1496.002648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.002648 # Seafloor depth:-1536.002648 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.053806 meters looking forward 0.000000 meters along route # Maximum depth: 1535.053806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.053806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945221; longitude = -129.966264; captureRadius = 10; duration = 100; initialDepth = 1494.322710; finalDepth = 1495.053806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.053806 # Seafloor depth:-1535.053806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.322710 meters looking forward 0.000000 meters along route # Maximum depth: 1534.322710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.322710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944321; longitude = -129.966089; captureRadius = 10; duration = 100; initialDepth = 1493.572960; finalDepth = 1494.322710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.32271 # Seafloor depth:-1534.322710 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.572960 meters looking forward 0.000000 meters along route # Maximum depth: 1533.572960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.572960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943421; longitude = -129.965914; captureRadius = 10; duration = 100; initialDepth = 1494.559367; finalDepth = 1493.572960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.57296 # Seafloor depth:-1533.572960 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.559367 meters looking forward 0.000000 meters along route # Maximum depth: 1534.559367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.559367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942522; longitude = -129.965739; captureRadius = 10; duration = 100; initialDepth = 1494.739549; finalDepth = 1494.559367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.559367 # Seafloor depth:-1534.559367 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.739549 meters looking forward 0.000000 meters along route # Maximum depth: 1534.739549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.739549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941622; longitude = -129.965564; captureRadius = 10; duration = 100; initialDepth = 1494.769895; finalDepth = 1494.739549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.739549 # Seafloor depth:-1534.739549 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.769895 meters looking forward 0.000000 meters along route # Maximum depth: 1534.769895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.769895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940722; longitude = -129.965389; captureRadius = 10; duration = 100; initialDepth = 1492.167043; finalDepth = 1494.769895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.769895 # Seafloor depth:-1534.769895 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.167043 meters looking forward 0.000000 meters along route # Maximum depth: 1532.167043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.167043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939822; longitude = -129.965214; captureRadius = 10; duration = 100; initialDepth = 1492.590347; finalDepth = 1492.167043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.167043 # Seafloor depth:-1532.167043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.590347 meters looking forward 0.000000 meters along route # Maximum depth: 1532.590347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.590347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938922; longitude = -129.965039; captureRadius = 10; duration = 100; initialDepth = 1493.570664; finalDepth = 1492.590347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.590347 # Seafloor depth:-1532.590347 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.570664 meters looking forward 0.000000 meters along route # Maximum depth: 1533.570664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.570664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938023; longitude = -129.964864; captureRadius = 10; duration = 100; initialDepth = 1494.636298; finalDepth = 1493.570664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.570664 # Seafloor depth:-1533.570664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.636298 meters looking forward 0.000000 meters along route # Maximum depth: 1534.636298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.636298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937123; longitude = -129.964689; captureRadius = 10; duration = 100; initialDepth = 1495.869531; finalDepth = 1494.636298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.636298 # Seafloor depth:-1534.636298 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.869531 meters looking forward 0.000000 meters along route # Maximum depth: 1535.869531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.869531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936223; longitude = -129.964514; captureRadius = 10; duration = 100; initialDepth = 1495.532770; finalDepth = 1495.869531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.869531 # Seafloor depth:-1535.869531 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.532770 meters looking forward 0.000000 meters along route # Maximum depth: 1535.532770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.532770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935323; longitude = -129.964339; captureRadius = 10; duration = 100; initialDepth = 1496.054996; finalDepth = 1495.532770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.53277 # Seafloor depth:-1535.532770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.054996 meters looking forward 0.000000 meters along route # Maximum depth: 1536.054996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.054996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934423; longitude = -129.964164; captureRadius = 10; duration = 100; initialDepth = 1495.592119; finalDepth = 1496.054996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.054996 # Seafloor depth:-1536.054996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.592119 meters looking forward 0.000000 meters along route # Maximum depth: 1535.592119 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.592119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933523; longitude = -129.963989; captureRadius = 10; duration = 100; initialDepth = 1497.096542; finalDepth = 1495.592119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.592119 # Seafloor depth:-1535.592119 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.096542 meters looking forward 0.000000 meters along route # Maximum depth: 1537.096542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.096542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932624; longitude = -129.963814; captureRadius = 10; duration = 100; initialDepth = 1497.473811; finalDepth = 1497.096542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.096542 # Seafloor depth:-1537.096542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.473811 meters looking forward 0.000000 meters along route # Maximum depth: 1537.473811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.473811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931724; longitude = -129.963639; captureRadius = 10; duration = 100; initialDepth = 1499.069080; finalDepth = 1497.473811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.473811 # Seafloor depth:-1537.473811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.069080 meters looking forward 0.000000 meters along route # Maximum depth: 1539.069080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.069080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930824; longitude = -129.963464; captureRadius = 10; duration = 100; initialDepth = 1503.058253; finalDepth = 1499.069080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.06908 # Seafloor depth:-1539.069080 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1543.058253 meters looking forward 0.000000 meters along route # Maximum depth: 1543.058253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.058253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929924; longitude = -129.963289; captureRadius = 10; duration = 100; initialDepth = 1509.766204; finalDepth = 1503.058253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.058253 # Seafloor depth:-1543.058253 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1549.766204 meters looking forward 0.000000 meters along route # Maximum depth: 1549.766204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.766204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929024; longitude = -129.963114; captureRadius = 10; duration = 100; initialDepth = 1512.861427; finalDepth = 1509.766204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.766204 # Seafloor depth:-1549.766204 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1552.861427 meters looking forward 0.000000 meters along route # Maximum depth: 1552.861427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.861427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928125; longitude = -129.962939; captureRadius = 10; duration = 100; initialDepth = 1515.430571; finalDepth = 1512.861427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.861427 # Seafloor depth:-1552.861427 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1555.430571 meters looking forward 0.000000 meters along route # Maximum depth: 1555.430571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.430571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927225; longitude = -129.962764; captureRadius = 10; duration = 100; initialDepth = 1515.675842; finalDepth = 1515.430571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.430571 # Seafloor depth:-1555.430571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1555.675842 meters looking forward 0.000000 meters along route # Maximum depth: 1555.675842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.675842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926325; longitude = -129.962589; captureRadius = 10; duration = 100; initialDepth = 1515.332721; finalDepth = 1515.675842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.675842 # Seafloor depth:-1555.675842 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1555.332721 meters looking forward 0.000000 meters along route # Maximum depth: 1555.332721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.332721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925425; longitude = -129.962414; captureRadius = 10; duration = 100; initialDepth = 1515.526454; finalDepth = 1515.332721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.332721 # Seafloor depth:-1555.332721 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1555.526454 meters looking forward 0.000000 meters along route # Maximum depth: 1555.526454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.526454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924525; longitude = -129.962239; captureRadius = 10; duration = 100; initialDepth = 1516.049369; finalDepth = 1515.526454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.526454 # Seafloor depth:-1555.526454 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1556.049369 meters looking forward 0.000000 meters along route # Maximum depth: 1556.049369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.049369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923625; longitude = -129.962064; captureRadius = 10; duration = 100; initialDepth = 1520.593420; finalDepth = 1516.049369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.049369 # Seafloor depth:-1556.049369 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1560.593420 meters looking forward 0.000000 meters along route # Maximum depth: 1560.593420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.593420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922726; longitude = -129.961889; captureRadius = 10; duration = 100; initialDepth = 1523.324144; finalDepth = 1520.593420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.59342 # Seafloor depth:-1560.593420 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1563.324144 meters looking forward 0.000000 meters along route # Maximum depth: 1563.324144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.324144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921826; longitude = -129.961714; captureRadius = 10; duration = 100; initialDepth = 1525.093005; finalDepth = 1523.324144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.324144 # Seafloor depth:-1563.324144 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1565.093005 meters looking forward 0.000000 meters along route # Maximum depth: 1565.093005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.093005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920926; longitude = -129.961539; captureRadius = 10; duration = 100; initialDepth = 1527.425601; finalDepth = 1525.093005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.093005 # Seafloor depth:-1565.093005 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1567.425601 meters looking forward 0.000000 meters along route # Maximum depth: 1567.425601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.425601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920026; longitude = -129.961364; captureRadius = 10; duration = 100; initialDepth = 1528.541210; finalDepth = 1527.425601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.425601 # Seafloor depth:-1567.425601 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1568.541210 meters looking forward 0.000000 meters along route # Maximum depth: 1568.541210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.541210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919126; longitude = -129.961189; captureRadius = 10; duration = 100; initialDepth = 1536.885444; finalDepth = 1528.541210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1528.54121 # Seafloor depth:-1568.541210 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1576.885444 meters looking forward 0.000000 meters along route # Maximum depth: 1576.885444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.885444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918226; longitude = -129.961014; captureRadius = 10; duration = 100; initialDepth = 1548.593270; finalDepth = 1536.885444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1536.885444 # Seafloor depth:-1576.885444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1588.593270 meters looking forward 0.000000 meters along route # Maximum depth: 1588.593270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.593270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917327; longitude = -129.960839; captureRadius = 10; duration = 100; initialDepth = 1549.161416; finalDepth = 1548.593270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1548.59327 # Seafloor depth:-1588.593270 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1589.161416 meters looking forward 0.000000 meters along route # Maximum depth: 1589.161416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.161416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916426; longitude = -129.960664; captureRadius = 10; duration = 100; initialDepth = 1558.979195; finalDepth = 1549.161416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1549.161416 # Seafloor depth:-1589.161416 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1598.979195 meters looking forward 0.000000 meters along route # Maximum depth: 1598.979195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.979195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915527; longitude = -129.960489; captureRadius = 10; duration = 100; initialDepth = 1561.001046; finalDepth = 1558.979195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1558.979195 # Seafloor depth:-1598.979195 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1601.001046 meters looking forward 0.000000 meters along route # Maximum depth: 1601.001046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.001046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914627; longitude = -129.960314; captureRadius = 10; duration = 100; initialDepth = 1560.606795; finalDepth = 1561.001046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1561.001046 # Seafloor depth:-1601.001046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1600.606795 meters looking forward 0.000000 meters along route # Maximum depth: 1600.606795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.606795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913727; longitude = -129.960139; captureRadius = 10; duration = 100; initialDepth = 1563.010151; finalDepth = 1560.606795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1560.606795 # Seafloor depth:-1600.606795 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1603.010151 meters looking forward 0.000000 meters along route # Maximum depth: 1603.010151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.010151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912828; longitude = -129.959964; captureRadius = 10; duration = 100; initialDepth = 1567.389813; finalDepth = 1563.010151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1563.010151 # Seafloor depth:-1603.010151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1607.389813 meters looking forward 0.000000 meters along route # Maximum depth: 1607.389813 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1567.389813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911928; longitude = -129.959789; captureRadius = 10; duration = 100; initialDepth = 1572.655483; finalDepth = 1567.389813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1567.389813 # Seafloor depth:-1607.389813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1612.655483 meters looking forward 0.000000 meters along route # Maximum depth: 1612.655483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.655483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911028; longitude = -129.959614; captureRadius = 10; duration = 100; initialDepth = 1576.854996; finalDepth = 1572.655483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1572.655483 # Seafloor depth:-1612.655483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1616.854996 meters looking forward 0.000000 meters along route # Maximum depth: 1616.854996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.854996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910124; longitude = -129.959438; captureRadius = 10; duration = 100; initialDepth = 1577.350060; finalDepth = 1576.854996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1576.854996 # Seafloor depth:-1616.854996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1617.350060 meters looking forward 0.000000 meters along route # Maximum depth: 1617.350060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.350060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909228; longitude = -129.959264; captureRadius = 10; duration = 100; initialDepth = 1580.329552; finalDepth = 1577.350060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1577.35006 # Seafloor depth:-1617.350060 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1620.329552 meters looking forward 0.000000 meters along route # Maximum depth: 1620.329552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.329552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908328; longitude = -129.959089; captureRadius = 10; duration = 100; initialDepth = 1584.390747; finalDepth = 1580.329552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1580.329552 # Seafloor depth:-1620.329552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 29 # Segment length 100.957825 meters # Minimum depth: 1624.390747 meters looking forward 0.000000 meters along route # Maximum depth: 1624.390747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.390747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907430; longitude = -129.958914; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1583.725933; finalDepth = 1584.390747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1584.390747 # Seafloor depth:-1624.390747 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1623.725933 meters looking forward 0.000000 meters along route # Maximum depth: 1623.725933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.725933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907375; longitude = -129.959502; captureRadius = 10; duration = 100; initialDepth = 1583.982819; finalDepth = 1583.725933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1583.725933 # Seafloor depth:-1623.725933 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 100.957825 meters # Minimum depth: 1623.982819 meters looking forward 0.000000 meters along route # Maximum depth: 1623.982819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.982819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907250; longitude = -129.960831; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1582.099702; finalDepth = 1583.982819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1583.982819 # Seafloor depth:-1623.982819 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1622.099702 meters looking forward 0.000000 meters along route # Maximum depth: 1622.099702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.099702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907924; longitude = -129.960963; captureRadius = 10; duration = 100; initialDepth = 1576.904116; finalDepth = 1582.099702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1582.099702 # Seafloor depth:-1622.099702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1616.904116 meters looking forward 0.000000 meters along route # Maximum depth: 1616.904116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.904116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908823; longitude = -129.961139; captureRadius = 10; duration = 100; initialDepth = 1573.541314; finalDepth = 1576.904116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1576.904116 # Seafloor depth:-1616.904116 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1613.541314 meters looking forward 0.000000 meters along route # Maximum depth: 1613.541314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.541314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909723; longitude = -129.961315; captureRadius = 10; duration = 100; initialDepth = 1566.183540; finalDepth = 1573.541314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1573.541314 # Seafloor depth:-1613.541314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1606.183540 meters looking forward 0.000000 meters along route # Maximum depth: 1606.183540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.183540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910623; longitude = -129.961490; captureRadius = 10; duration = 100; initialDepth = 1559.481166; finalDepth = 1566.183540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1566.18354 # Seafloor depth:-1606.183540 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1599.481166 meters looking forward 0.000000 meters along route # Maximum depth: 1599.481166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.481166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911523; longitude = -129.961666; captureRadius = 10; duration = 100; initialDepth = 1554.510417; finalDepth = 1559.481166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1559.481166 # Seafloor depth:-1599.481166 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1594.510417 meters looking forward 0.000000 meters along route # Maximum depth: 1594.510417 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.510417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912423; longitude = -129.961842; captureRadius = 10; duration = 100; initialDepth = 1550.175536; finalDepth = 1554.510417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1554.510417 # Seafloor depth:-1594.510417 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1590.175536 meters looking forward 0.000000 meters along route # Maximum depth: 1590.175536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.175536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913322; longitude = -129.962018; captureRadius = 10; duration = 100; initialDepth = 1544.573131; finalDepth = 1550.175536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1550.175536 # Seafloor depth:-1590.175536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1584.573131 meters looking forward 0.000000 meters along route # Maximum depth: 1584.573131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.573131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914222; longitude = -129.962194; captureRadius = 10; duration = 100; initialDepth = 1541.094624; finalDepth = 1544.573131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1544.573131 # Seafloor depth:-1584.573131 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1581.094624 meters looking forward 0.000000 meters along route # Maximum depth: 1581.094624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.094624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915122; longitude = -129.962370; captureRadius = 10; duration = 100; initialDepth = 1536.355890; finalDepth = 1541.094624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1541.094624 # Seafloor depth:-1581.094624 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1576.355890 meters looking forward 0.000000 meters along route # Maximum depth: 1576.355890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.355890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916022; longitude = -129.962546; captureRadius = 10; duration = 100; initialDepth = 1532.516923; finalDepth = 1536.355890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1536.35589 # Seafloor depth:-1576.355890 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1572.516923 meters looking forward 0.000000 meters along route # Maximum depth: 1572.516923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.516923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916922; longitude = -129.962722; captureRadius = 10; duration = 100; initialDepth = 1526.983278; finalDepth = 1532.516923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1532.516923 # Seafloor depth:-1572.516923 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1566.983278 meters looking forward 0.000000 meters along route # Maximum depth: 1566.983278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.983278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917822; longitude = -129.962898; captureRadius = 10; duration = 100; initialDepth = 1522.905268; finalDepth = 1526.983278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1526.983278 # Seafloor depth:-1566.983278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1562.905268 meters looking forward 0.000000 meters along route # Maximum depth: 1562.905268 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.905268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918721; longitude = -129.963074; captureRadius = 10; duration = 100; initialDepth = 1521.269408; finalDepth = 1522.905268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.905268 # Seafloor depth:-1562.905268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1561.269408 meters looking forward 0.000000 meters along route # Maximum depth: 1561.269408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.269408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919621; longitude = -129.963250; captureRadius = 10; duration = 100; initialDepth = 1522.562769; finalDepth = 1521.269408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.269408 # Seafloor depth:-1561.269408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1562.562769 meters looking forward 0.000000 meters along route # Maximum depth: 1562.562769 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.562769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920521; longitude = -129.963426; captureRadius = 10; duration = 100; initialDepth = 1520.293845; finalDepth = 1522.562769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.562769 # Seafloor depth:-1562.562769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1560.293845 meters looking forward 0.000000 meters along route # Maximum depth: 1560.293845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.293845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921421; longitude = -129.963602; captureRadius = 10; duration = 100; initialDepth = 1517.667367; finalDepth = 1520.293845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.293845 # Seafloor depth:-1560.293845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1557.667367 meters looking forward 0.000000 meters along route # Maximum depth: 1557.667367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.667367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922321; longitude = -129.963778; captureRadius = 10; duration = 100; initialDepth = 1511.117030; finalDepth = 1517.667367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.667367 # Seafloor depth:-1557.667367 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1551.117030 meters looking forward 0.000000 meters along route # Maximum depth: 1551.117030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.117030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923220; longitude = -129.963954; captureRadius = 10; duration = 100; initialDepth = 1507.841302; finalDepth = 1511.117030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.11703 # Seafloor depth:-1551.117030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1547.841302 meters looking forward 0.000000 meters along route # Maximum depth: 1547.841302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.841302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924120; longitude = -129.964130; captureRadius = 10; duration = 100; initialDepth = 1508.382953; finalDepth = 1507.841302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.841302 # Seafloor depth:-1547.841302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1548.382953 meters looking forward 0.000000 meters along route # Maximum depth: 1548.382953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.382953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925020; longitude = -129.964305; captureRadius = 10; duration = 100; initialDepth = 1508.862309; finalDepth = 1508.382953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.382953 # Seafloor depth:-1548.382953 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1548.862309 meters looking forward 0.000000 meters along route # Maximum depth: 1548.862309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.862309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925920; longitude = -129.964481; captureRadius = 10; duration = 100; initialDepth = 1507.955650; finalDepth = 1508.862309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.862309 # Seafloor depth:-1548.862309 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1547.955650 meters looking forward 0.000000 meters along route # Maximum depth: 1547.955650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.955650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926820; longitude = -129.964657; captureRadius = 10; duration = 100; initialDepth = 1507.422537; finalDepth = 1507.955650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.95565 # Seafloor depth:-1547.955650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1547.422537 meters looking forward 0.000000 meters along route # Maximum depth: 1547.422537 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.422537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927720; longitude = -129.964833; captureRadius = 10; duration = 100; initialDepth = 1505.226226; finalDepth = 1507.422537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.422537 # Seafloor depth:-1547.422537 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1545.226226 meters looking forward 0.000000 meters along route # Maximum depth: 1545.226226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.226226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928619; longitude = -129.965009; captureRadius = 10; duration = 100; initialDepth = 1499.984643; finalDepth = 1505.226226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.226226 # Seafloor depth:-1545.226226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.984643 meters looking forward 0.000000 meters along route # Maximum depth: 1539.984643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.984643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929519; longitude = -129.965185; captureRadius = 10; duration = 100; initialDepth = 1497.158153; finalDepth = 1499.984643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.984643 # Seafloor depth:-1539.984643 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.158153 meters looking forward 0.000000 meters along route # Maximum depth: 1537.158153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.158153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930419; longitude = -129.965361; captureRadius = 10; duration = 100; initialDepth = 1496.714918; finalDepth = 1497.158153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.158153 # Seafloor depth:-1537.158153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.714918 meters looking forward 0.000000 meters along route # Maximum depth: 1536.714918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.714918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931319; longitude = -129.965537; captureRadius = 10; duration = 100; initialDepth = 1496.153751; finalDepth = 1496.714918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.714918 # Seafloor depth:-1536.714918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.153751 meters looking forward 0.000000 meters along route # Maximum depth: 1536.153751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.153751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932219; longitude = -129.965713; captureRadius = 10; duration = 100; initialDepth = 1495.606810; finalDepth = 1496.153751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.153751 # Seafloor depth:-1536.153751 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.606810 meters looking forward 0.000000 meters along route # Maximum depth: 1535.606810 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.606810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933119; longitude = -129.965889; captureRadius = 10; duration = 100; initialDepth = 1495.507524; finalDepth = 1495.606810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.60681 # Seafloor depth:-1535.606810 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.507524 meters looking forward 0.000000 meters along route # Maximum depth: 1535.507524 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.507524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934018; longitude = -129.966065; captureRadius = 10; duration = 100; initialDepth = 1495.446576; finalDepth = 1495.507524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.507524 # Seafloor depth:-1535.507524 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.446576 meters looking forward 0.000000 meters along route # Maximum depth: 1535.446576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.446576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934918; longitude = -129.966241; captureRadius = 10; duration = 100; initialDepth = 1495.356648; finalDepth = 1495.446576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.446576 # Seafloor depth:-1535.446576 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.356648 meters looking forward 0.000000 meters along route # Maximum depth: 1535.356648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.356648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935818; longitude = -129.966417; captureRadius = 10; duration = 100; initialDepth = 1495.024047; finalDepth = 1495.356648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.356648 # Seafloor depth:-1535.356648 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.024047 meters looking forward 0.000000 meters along route # Maximum depth: 1535.024047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.024047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936718; longitude = -129.966593; captureRadius = 10; duration = 100; initialDepth = 1493.857163; finalDepth = 1495.024047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.024047 # Seafloor depth:-1535.024047 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.857163 meters looking forward 0.000000 meters along route # Maximum depth: 1533.857163 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.857163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937618; longitude = -129.966769; captureRadius = 10; duration = 100; initialDepth = 1494.010243; finalDepth = 1493.857163; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.857163 # Seafloor depth:-1533.857163 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.010243 meters looking forward 0.000000 meters along route # Maximum depth: 1534.010243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.010243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938517; longitude = -129.966945; captureRadius = 10; duration = 100; initialDepth = 1493.768534; finalDepth = 1494.010243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.010243 # Seafloor depth:-1534.010243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.768534 meters looking forward 0.000000 meters along route # Maximum depth: 1533.768534 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.768534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939417; longitude = -129.967120; captureRadius = 10; duration = 100; initialDepth = 1495.226913; finalDepth = 1493.768534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.768534 # Seafloor depth:-1533.768534 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.226913 meters looking forward 0.000000 meters along route # Maximum depth: 1535.226913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.226913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940317; longitude = -129.967296; captureRadius = 10; duration = 100; initialDepth = 1494.778742; finalDepth = 1495.226913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.226913 # Seafloor depth:-1535.226913 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.778742 meters looking forward 0.000000 meters along route # Maximum depth: 1534.778742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.778742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941217; longitude = -129.967472; captureRadius = 10; duration = 100; initialDepth = 1494.563511; finalDepth = 1494.778742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.778742 # Seafloor depth:-1534.778742 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.563511 meters looking forward 0.000000 meters along route # Maximum depth: 1534.563511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.563511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942117; longitude = -129.967648; captureRadius = 10; duration = 100; initialDepth = 1493.246239; finalDepth = 1494.563511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.563511 # Seafloor depth:-1534.563511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.246239 meters looking forward 0.000000 meters along route # Maximum depth: 1533.246239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.246239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943017; longitude = -129.967824; captureRadius = 10; duration = 100; initialDepth = 1492.836584; finalDepth = 1493.246239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.246239 # Seafloor depth:-1533.246239 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.836584 meters looking forward 0.000000 meters along route # Maximum depth: 1532.836584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.836584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943916; longitude = -129.968000; captureRadius = 10; duration = 100; initialDepth = 1492.955624; finalDepth = 1492.836584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.836584 # Seafloor depth:-1532.836584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.955624 meters looking forward 0.000000 meters along route # Maximum depth: 1532.955624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.955624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944816; longitude = -129.968176; captureRadius = 10; duration = 100; initialDepth = 1493.151985; finalDepth = 1492.955624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.955624 # Seafloor depth:-1532.955624 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.151985 meters looking forward 0.000000 meters along route # Maximum depth: 1533.151985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.151985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945716; longitude = -129.968352; captureRadius = 10; duration = 100; initialDepth = 1494.015941; finalDepth = 1493.151985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.151985 # Seafloor depth:-1533.151985 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.015941 meters looking forward 0.000000 meters along route # Maximum depth: 1534.015941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.015941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946616; longitude = -129.968528; captureRadius = 10; duration = 100; initialDepth = 1495.075364; finalDepth = 1494.015941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.015941 # Seafloor depth:-1534.015941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.075364 meters looking forward 0.000000 meters along route # Maximum depth: 1535.075364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.075364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947516; longitude = -129.968704; captureRadius = 10; duration = 100; initialDepth = 1495.012634; finalDepth = 1495.075364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.075364 # Seafloor depth:-1535.075364 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1535.012634 meters looking forward 0.000000 meters along route # Maximum depth: 1535.012634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.012634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948442; longitude = -129.968885; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1495.433044; finalDepth = 1495.012634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.012634 # Seafloor depth:-1535.012634 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.433044 meters looking forward 0.000000 meters along route # Maximum depth: 1535.433044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.433044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948921; longitude = -129.969050; captureRadius = 10; duration = 100; initialDepth = 1494.344695; finalDepth = 1495.433044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.433044 # Seafloor depth:-1535.433044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.344695 meters looking forward 0.000000 meters along route # Maximum depth: 1534.344695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.344695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949810; longitude = -129.969356; captureRadius = 10; duration = 100; initialDepth = 1491.224909; finalDepth = 1494.344695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.344695 # Seafloor depth:-1534.344695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.224909 meters looking forward 0.000000 meters along route # Maximum depth: 1531.224909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.224909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950710; longitude = -129.969665; captureRadius = 10; duration = 100; initialDepth = 1490.926104; finalDepth = 1491.224909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.224909 # Seafloor depth:-1531.224909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.926104 meters looking forward 0.000000 meters along route # Maximum depth: 1530.926104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.926104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951610; longitude = -129.969975; captureRadius = 10; duration = 100; initialDepth = 1491.416831; finalDepth = 1490.926104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.926104 # Seafloor depth:-1530.926104 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.416831 meters looking forward 0.000000 meters along route # Maximum depth: 1531.416831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.416831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952510; longitude = -129.970284; captureRadius = 10; duration = 100; initialDepth = 1489.628688; finalDepth = 1491.416831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.416831 # Seafloor depth:-1531.416831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.628688 meters looking forward 0.000000 meters along route # Maximum depth: 1529.628688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.628688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953422; longitude = -129.970598; captureRadius = 10; duration = 100; initialDepth = 1488.548388; finalDepth = 1489.628688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.628688 # Seafloor depth:-1529.628688 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.548388 meters looking forward 0.000000 meters along route # Maximum depth: 1528.548388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.548388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954309; longitude = -129.970903; captureRadius = 10; duration = 100; initialDepth = 1489.188487; finalDepth = 1488.548388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.548388 # Seafloor depth:-1528.548388 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.188487 meters looking forward 0.000000 meters along route # Maximum depth: 1529.188487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.188487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955209; longitude = -129.971213; captureRadius = 10; duration = 100; initialDepth = 1487.874429; finalDepth = 1489.188487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.188487 # Seafloor depth:-1529.188487 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.874429 meters looking forward 0.000000 meters along route # Maximum depth: 1527.874429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.874429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956109; longitude = -129.971522; captureRadius = 10; duration = 100; initialDepth = 1486.835734; finalDepth = 1487.874429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.874429 # Seafloor depth:-1527.874429 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.835734 meters looking forward 0.000000 meters along route # Maximum depth: 1526.835734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.835734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957009; longitude = -129.971832; captureRadius = 10; duration = 100; initialDepth = 1485.519371; finalDepth = 1486.835734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.835734 # Seafloor depth:-1526.835734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.519371 meters looking forward 0.000000 meters along route # Maximum depth: 1525.519371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.519371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957923; longitude = -129.972146; captureRadius = 10; duration = 100; initialDepth = 1488.887434; finalDepth = 1485.519371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.519371 # Seafloor depth:-1525.519371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.887434 meters looking forward 0.000000 meters along route # Maximum depth: 1528.887434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.887434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958808; longitude = -129.972451; captureRadius = 10; duration = 100; initialDepth = 1490.741541; finalDepth = 1488.887434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.887434 # Seafloor depth:-1528.887434 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.741541 meters looking forward 0.000000 meters along route # Maximum depth: 1530.741541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.741541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959708; longitude = -129.972760; captureRadius = 10; duration = 100; initialDepth = 1491.859814; finalDepth = 1490.741541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.741541 # Seafloor depth:-1530.741541 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.859814 meters looking forward 0.000000 meters along route # Maximum depth: 1531.859814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.859814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960608; longitude = -129.973070; captureRadius = 10; duration = 100; initialDepth = 1492.949245; finalDepth = 1491.859814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.859814 # Seafloor depth:-1531.859814 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.949245 meters looking forward 0.000000 meters along route # Maximum depth: 1532.949245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.949245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961508; longitude = -129.973380; captureRadius = 10; duration = 100; initialDepth = 1491.964679; finalDepth = 1492.949245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.949245 # Seafloor depth:-1532.949245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.964679 meters looking forward 0.000000 meters along route # Maximum depth: 1531.964679 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.964679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962424; longitude = -129.973695; captureRadius = 10; duration = 100; initialDepth = 1491.177370; finalDepth = 1491.964679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.964679 # Seafloor depth:-1531.964679 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.177370 meters looking forward 0.000000 meters along route # Maximum depth: 1531.177370 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.177370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963308; longitude = -129.973999; captureRadius = 10; duration = 100; initialDepth = 1489.590725; finalDepth = 1491.177370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.17737 # Seafloor depth:-1531.177370 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.590725 meters looking forward 0.000000 meters along route # Maximum depth: 1529.590725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.590725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964207; longitude = -129.974308; captureRadius = 10; duration = 100; initialDepth = 1489.183883; finalDepth = 1489.590725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.590725 # Seafloor depth:-1529.590725 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.183883 meters looking forward 0.000000 meters along route # Maximum depth: 1529.183883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.183883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965107; longitude = -129.974618; captureRadius = 10; duration = 100; initialDepth = 1483.158773; finalDepth = 1489.183883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.183883 # Seafloor depth:-1529.183883 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.158773 meters looking forward 0.000000 meters along route # Maximum depth: 1523.158773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.158773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966007; longitude = -129.974927; captureRadius = 10; duration = 100; initialDepth = 1481.888349; finalDepth = 1483.158773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.158773 # Seafloor depth:-1523.158773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.888349 meters looking forward 0.000000 meters along route # Maximum depth: 1521.888349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.888349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966925; longitude = -129.975243; captureRadius = 10; duration = 100; initialDepth = 1479.754768; finalDepth = 1481.888349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.888349 # Seafloor depth:-1521.888349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.754768 meters looking forward 0.000000 meters along route # Maximum depth: 1519.754768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.754768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967807; longitude = -129.975546; captureRadius = 10; duration = 100; initialDepth = 1480.079478; finalDepth = 1479.754768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.754768 # Seafloor depth:-1519.754768 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.079478 meters looking forward 0.000000 meters along route # Maximum depth: 1520.079478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.079478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968706; longitude = -129.975856; captureRadius = 10; duration = 100; initialDepth = 1479.038650; finalDepth = 1480.079478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.079478 # Seafloor depth:-1520.079478 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.038650 meters looking forward 0.000000 meters along route # Maximum depth: 1519.038650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.038650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969606; longitude = -129.976165; captureRadius = 10; duration = 100; initialDepth = 1477.451936; finalDepth = 1479.038650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.03865 # Seafloor depth:-1519.038650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.451936 meters looking forward 0.000000 meters along route # Maximum depth: 1517.451936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.451936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970506; longitude = -129.976475; captureRadius = 10; duration = 100; initialDepth = 1474.673831; finalDepth = 1477.451936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.451936 # Seafloor depth:-1517.451936 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.673831 meters looking forward 0.000000 meters along route # Maximum depth: 1514.673831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.673831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971425; longitude = -129.976791; captureRadius = 10; duration = 100; initialDepth = 1475.103996; finalDepth = 1474.673831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.673831 # Seafloor depth:-1514.673831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.103996 meters looking forward 0.000000 meters along route # Maximum depth: 1515.103996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.103996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972306; longitude = -129.977094; captureRadius = 10; duration = 100; initialDepth = 1478.060805; finalDepth = 1475.103996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.103996 # Seafloor depth:-1515.103996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.060805 meters looking forward 0.000000 meters along route # Maximum depth: 1518.060805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.060805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973206; longitude = -129.977403; captureRadius = 10; duration = 100; initialDepth = 1475.548045; finalDepth = 1478.060805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.060805 # Seafloor depth:-1518.060805 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.548045 meters looking forward 0.000000 meters along route # Maximum depth: 1515.548045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.548045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974105; longitude = -129.977713; captureRadius = 10; duration = 100; initialDepth = 1460.180206; finalDepth = 1475.548045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.548045 # Seafloor depth:-1515.548045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 100.957825 meters # Minimum depth: 1500.180206 meters looking forward 0.000000 meters along route # Maximum depth: 1500.180206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.180206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974998; longitude = -129.978020; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1462.351271; finalDepth = 1460.180206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.180206 # Seafloor depth:-1500.180206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1502.351271 meters looking forward 0.000000 meters along route # Maximum depth: 1502.351271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.351271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974897; longitude = -129.978597; captureRadius = 10; duration = 100; initialDepth = 1462.281464; finalDepth = 1462.351271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1462.351271 # Seafloor depth:-1502.351271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1502.281464 meters looking forward 0.000000 meters along route # Maximum depth: 1502.281464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.281464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974668; longitude = -129.979911; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1464.583089; finalDepth = 1462.281464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.281464 # Seafloor depth:-1502.281464 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1504.583089 meters looking forward 0.000000 meters along route # Maximum depth: 1504.583089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.583089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974285; longitude = -129.979777; captureRadius = 10; duration = 100; initialDepth = 1471.496528; finalDepth = 1464.583089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.583089 # Seafloor depth:-1504.583089 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.496528 meters looking forward 0.000000 meters along route # Maximum depth: 1511.496528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.496528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973386; longitude = -129.979463; captureRadius = 10; duration = 100; initialDepth = 1469.747021; finalDepth = 1471.496528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.496528 # Seafloor depth:-1511.496528 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1509.747021 meters looking forward 0.000000 meters along route # Maximum depth: 1509.747021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.747021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972486; longitude = -129.979149; captureRadius = 10; duration = 100; initialDepth = 1471.846136; finalDepth = 1469.747021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.747021 # Seafloor depth:-1509.747021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.846136 meters looking forward 0.000000 meters along route # Maximum depth: 1511.846136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.846136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971586; longitude = -129.978835; captureRadius = 10; duration = 100; initialDepth = 1471.382874; finalDepth = 1471.846136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.846136 # Seafloor depth:-1511.846136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.382874 meters looking forward 0.000000 meters along route # Maximum depth: 1511.382874 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.382874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970686; longitude = -129.978521; captureRadius = 10; duration = 100; initialDepth = 1473.292414; finalDepth = 1471.382874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.382874 # Seafloor depth:-1511.382874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.292414 meters looking forward 0.000000 meters along route # Maximum depth: 1513.292414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.292414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969786; longitude = -129.978207; captureRadius = 10; duration = 100; initialDepth = 1474.249073; finalDepth = 1473.292414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.292414 # Seafloor depth:-1513.292414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.249073 meters looking forward 0.000000 meters along route # Maximum depth: 1514.249073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.249073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968871; longitude = -129.977888; captureRadius = 10; duration = 100; initialDepth = 1475.471758; finalDepth = 1474.249073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.249073 # Seafloor depth:-1514.249073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.471758 meters looking forward 0.000000 meters along route # Maximum depth: 1515.471758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.471758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967987; longitude = -129.977579; captureRadius = 10; duration = 100; initialDepth = 1478.503219; finalDepth = 1475.471758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.471758 # Seafloor depth:-1515.471758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.503219 meters looking forward 0.000000 meters along route # Maximum depth: 1518.503219 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.503219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967087; longitude = -129.977265; captureRadius = 10; duration = 100; initialDepth = 1479.258382; finalDepth = 1478.503219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.503219 # Seafloor depth:-1518.503219 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.258382 meters looking forward 0.000000 meters along route # Maximum depth: 1519.258382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.258382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966187; longitude = -129.976951; captureRadius = 10; duration = 100; initialDepth = 1480.080689; finalDepth = 1479.258382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.258382 # Seafloor depth:-1519.258382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.080689 meters looking forward 0.000000 meters along route # Maximum depth: 1520.080689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.080689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965287; longitude = -129.976637; captureRadius = 10; duration = 100; initialDepth = 1485.536037; finalDepth = 1480.080689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.080689 # Seafloor depth:-1520.080689 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.536037 meters looking forward 0.000000 meters along route # Maximum depth: 1525.536037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.536037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964387; longitude = -129.976323; captureRadius = 10; duration = 100; initialDepth = 1486.311735; finalDepth = 1485.536037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.536037 # Seafloor depth:-1525.536037 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.311735 meters looking forward 0.000000 meters along route # Maximum depth: 1526.311735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.311735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963488; longitude = -129.976009; captureRadius = 10; duration = 100; initialDepth = 1489.030184; finalDepth = 1486.311735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.311735 # Seafloor depth:-1526.311735 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.030184 meters looking forward 0.000000 meters along route # Maximum depth: 1529.030184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.030184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962586; longitude = -129.975694; captureRadius = 10; duration = 100; initialDepth = 1489.068054; finalDepth = 1489.030184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.030184 # Seafloor depth:-1529.030184 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.068054 meters looking forward 0.000000 meters along route # Maximum depth: 1529.068054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.068054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961688; longitude = -129.975381; captureRadius = 10; duration = 100; initialDepth = 1488.714290; finalDepth = 1489.068054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.068054 # Seafloor depth:-1529.068054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.714290 meters looking forward 0.000000 meters along route # Maximum depth: 1528.714290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.714290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960788; longitude = -129.975067; captureRadius = 10; duration = 100; initialDepth = 1487.672871; finalDepth = 1488.714290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.71429 # Seafloor depth:-1528.714290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.672871 meters looking forward 0.000000 meters along route # Maximum depth: 1527.672871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.672871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959888; longitude = -129.974753; captureRadius = 10; duration = 100; initialDepth = 1487.030684; finalDepth = 1487.672871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.672871 # Seafloor depth:-1527.672871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.030684 meters looking forward 0.000000 meters along route # Maximum depth: 1527.030684 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.030684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958988; longitude = -129.974439; captureRadius = 10; duration = 100; initialDepth = 1484.913244; finalDepth = 1487.030684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.030684 # Seafloor depth:-1527.030684 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.913244 meters looking forward 0.000000 meters along route # Maximum depth: 1524.913244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.913244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958089; longitude = -129.974125; captureRadius = 10; duration = 100; initialDepth = 1483.555244; finalDepth = 1484.913244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.913244 # Seafloor depth:-1524.913244 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.555244 meters looking forward 0.000000 meters along route # Maximum depth: 1523.555244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.555244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957189; longitude = -129.973811; captureRadius = 10; duration = 100; initialDepth = 1482.921116; finalDepth = 1483.555244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.555244 # Seafloor depth:-1523.555244 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.921116 meters looking forward 0.000000 meters along route # Maximum depth: 1522.921116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.921116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956289; longitude = -129.973497; captureRadius = 10; duration = 100; initialDepth = 1484.497145; finalDepth = 1482.921116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.921116 # Seafloor depth:-1522.921116 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.497145 meters looking forward 0.000000 meters along route # Maximum depth: 1524.497145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.497145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955377; longitude = -129.973178; captureRadius = 10; duration = 100; initialDepth = 1484.311598; finalDepth = 1484.497145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.497145 # Seafloor depth:-1524.497145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.311598 meters looking forward 0.000000 meters along route # Maximum depth: 1524.311598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.311598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954489; longitude = -129.972869; captureRadius = 10; duration = 100; initialDepth = 1484.204875; finalDepth = 1484.311598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.311598 # Seafloor depth:-1524.311598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.204875 meters looking forward 0.000000 meters along route # Maximum depth: 1524.204875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.204875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953589; longitude = -129.972554; captureRadius = 10; duration = 100; initialDepth = 1484.128335; finalDepth = 1484.204875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.204875 # Seafloor depth:-1524.204875 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.128335 meters looking forward 0.000000 meters along route # Maximum depth: 1524.128335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.128335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952690; longitude = -129.972240; captureRadius = 10; duration = 100; initialDepth = 1485.705598; finalDepth = 1484.128335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.128335 # Seafloor depth:-1524.128335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.705598 meters looking forward 0.000000 meters along route # Maximum depth: 1525.705598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.705598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951790; longitude = -129.971926; captureRadius = 10; duration = 100; initialDepth = 1487.598483; finalDepth = 1485.705598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.705598 # Seafloor depth:-1525.705598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.598483 meters looking forward 0.000000 meters along route # Maximum depth: 1527.598483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.598483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950890; longitude = -129.971612; captureRadius = 10; duration = 100; initialDepth = 1491.946937; finalDepth = 1487.598483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.598483 # Seafloor depth:-1527.598483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.946937 meters looking forward 0.000000 meters along route # Maximum depth: 1531.946937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.946937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949990; longitude = -129.971298; captureRadius = 10; duration = 100; initialDepth = 1492.967087; finalDepth = 1491.946937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.946937 # Seafloor depth:-1531.946937 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.967087 meters looking forward 0.000000 meters along route # Maximum depth: 1532.967087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.967087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949090; longitude = -129.970984; captureRadius = 10; duration = 100; initialDepth = 1492.214203; finalDepth = 1492.967087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.967087 # Seafloor depth:-1532.967087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 100.957825 meters # Minimum depth: 1532.214203 meters looking forward 0.000000 meters along route # Maximum depth: 1532.214203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.214203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948187; longitude = -129.970669; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1491.631016; finalDepth = 1492.214203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.214203 # Seafloor depth:-1532.214203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.631016 meters looking forward 0.000000 meters along route # Maximum depth: 1531.631016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.631016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947561; longitude = -129.970548; captureRadius = 10; duration = 100; initialDepth = 1491.669291; finalDepth = 1491.631016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.631016 # Seafloor depth:-1531.631016 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.669291 meters looking forward 0.000000 meters along route # Maximum depth: 1531.669291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.669291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946661; longitude = -129.970375; captureRadius = 10; duration = 100; initialDepth = 1492.534125; finalDepth = 1491.669291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.669291 # Seafloor depth:-1531.669291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.534125 meters looking forward 0.000000 meters along route # Maximum depth: 1532.534125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.534125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945761; longitude = -129.970202; captureRadius = 10; duration = 100; initialDepth = 1492.532948; finalDepth = 1492.534125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.534125 # Seafloor depth:-1532.534125 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.532948 meters looking forward 0.000000 meters along route # Maximum depth: 1532.532948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.532948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944861; longitude = -129.970028; captureRadius = 10; duration = 100; initialDepth = 1492.877066; finalDepth = 1492.532948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.532948 # Seafloor depth:-1532.532948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.877066 meters looking forward 0.000000 meters along route # Maximum depth: 1532.877066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.877066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943961; longitude = -129.969855; captureRadius = 10; duration = 100; initialDepth = 1493.388255; finalDepth = 1492.877066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.877066 # Seafloor depth:-1532.877066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.388255 meters looking forward 0.000000 meters along route # Maximum depth: 1533.388255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.388255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943062; longitude = -129.969681; captureRadius = 10; duration = 100; initialDepth = 1493.341041; finalDepth = 1493.388255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.388255 # Seafloor depth:-1533.388255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.341041 meters looking forward 0.000000 meters along route # Maximum depth: 1533.341041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.341041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942162; longitude = -129.969508; captureRadius = 10; duration = 100; initialDepth = 1492.049624; finalDepth = 1493.341041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.341041 # Seafloor depth:-1533.341041 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.049624 meters looking forward 0.000000 meters along route # Maximum depth: 1532.049624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.049624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941262; longitude = -129.969335; captureRadius = 10; duration = 100; initialDepth = 1491.436246; finalDepth = 1492.049624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.049624 # Seafloor depth:-1532.049624 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.436246 meters looking forward 0.000000 meters along route # Maximum depth: 1531.436246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.436246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940362; longitude = -129.969161; captureRadius = 10; duration = 100; initialDepth = 1487.685585; finalDepth = 1491.436246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.436246 # Seafloor depth:-1531.436246 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.685585 meters looking forward 0.000000 meters along route # Maximum depth: 1527.685585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.685585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939462; longitude = -129.968988; captureRadius = 10; duration = 100; initialDepth = 1488.659267; finalDepth = 1487.685585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.685585 # Seafloor depth:-1527.685585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.659267 meters looking forward 0.000000 meters along route # Maximum depth: 1528.659267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.659267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938562; longitude = -129.968815; captureRadius = 10; duration = 100; initialDepth = 1490.542943; finalDepth = 1488.659267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.659267 # Seafloor depth:-1528.659267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.542943 meters looking forward 0.000000 meters along route # Maximum depth: 1530.542943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.542943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937663; longitude = -129.968641; captureRadius = 10; duration = 100; initialDepth = 1491.322095; finalDepth = 1490.542943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.542943 # Seafloor depth:-1530.542943 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.322095 meters looking forward 0.000000 meters along route # Maximum depth: 1531.322095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.322095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936763; longitude = -129.968468; captureRadius = 10; duration = 100; initialDepth = 1489.591015; finalDepth = 1491.322095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.322095 # Seafloor depth:-1531.322095 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.591015 meters looking forward 0.000000 meters along route # Maximum depth: 1529.591015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.591015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935863; longitude = -129.968294; captureRadius = 10; duration = 100; initialDepth = 1492.012522; finalDepth = 1489.591015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.591015 # Seafloor depth:-1529.591015 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.012522 meters looking forward 0.000000 meters along route # Maximum depth: 1532.012522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.012522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934963; longitude = -129.968121; captureRadius = 10; duration = 100; initialDepth = 1492.998361; finalDepth = 1492.012522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.012522 # Seafloor depth:-1532.012522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.998361 meters looking forward 0.000000 meters along route # Maximum depth: 1532.998361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.998361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934063; longitude = -129.967948; captureRadius = 10; duration = 100; initialDepth = 1493.721300; finalDepth = 1492.998361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.998361 # Seafloor depth:-1532.998361 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.721300 meters looking forward 0.000000 meters along route # Maximum depth: 1533.721300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.721300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933164; longitude = -129.967774; captureRadius = 10; duration = 100; initialDepth = 1495.720884; finalDepth = 1493.721300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.7213 # Seafloor depth:-1533.721300 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.720884 meters looking forward 0.000000 meters along route # Maximum depth: 1535.720884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.720884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932264; longitude = -129.967601; captureRadius = 10; duration = 100; initialDepth = 1496.732343; finalDepth = 1495.720884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.720884 # Seafloor depth:-1535.720884 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.732343 meters looking forward 0.000000 meters along route # Maximum depth: 1536.732343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.732343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931364; longitude = -129.967428; captureRadius = 10; duration = 100; initialDepth = 1496.414716; finalDepth = 1496.732343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.732343 # Seafloor depth:-1536.732343 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.414716 meters looking forward 0.000000 meters along route # Maximum depth: 1536.414716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.414716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930464; longitude = -129.967254; captureRadius = 10; duration = 100; initialDepth = 1496.397383; finalDepth = 1496.414716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.414716 # Seafloor depth:-1536.414716 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.397383 meters looking forward 0.000000 meters along route # Maximum depth: 1536.397383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.397383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929564; longitude = -129.967081; captureRadius = 10; duration = 100; initialDepth = 1497.285580; finalDepth = 1496.397383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.397383 # Seafloor depth:-1536.397383 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.285580 meters looking forward 0.000000 meters along route # Maximum depth: 1537.285580 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.285580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928664; longitude = -129.966907; captureRadius = 10; duration = 100; initialDepth = 1497.243423; finalDepth = 1497.285580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.28558 # Seafloor depth:-1537.285580 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.243423 meters looking forward 0.000000 meters along route # Maximum depth: 1537.243423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.243423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927765; longitude = -129.966734; captureRadius = 10; duration = 100; initialDepth = 1498.599360; finalDepth = 1497.243423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.243423 # Seafloor depth:-1537.243423 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.599360 meters looking forward 0.000000 meters along route # Maximum depth: 1538.599360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.599360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926865; longitude = -129.966561; captureRadius = 10; duration = 100; initialDepth = 1502.943239; finalDepth = 1498.599360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.59936 # Seafloor depth:-1538.599360 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1542.943239 meters looking forward 0.000000 meters along route # Maximum depth: 1542.943239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.943239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925965; longitude = -129.966387; captureRadius = 10; duration = 100; initialDepth = 1506.208991; finalDepth = 1502.943239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.943239 # Seafloor depth:-1542.943239 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1546.208991 meters looking forward 0.000000 meters along route # Maximum depth: 1546.208991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.208991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925065; longitude = -129.966214; captureRadius = 10; duration = 100; initialDepth = 1507.086144; finalDepth = 1506.208991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.208991 # Seafloor depth:-1546.208991 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1547.086144 meters looking forward 0.000000 meters along route # Maximum depth: 1547.086144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.086144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924165; longitude = -129.966041; captureRadius = 10; duration = 100; initialDepth = 1512.322369; finalDepth = 1507.086144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.086144 # Seafloor depth:-1547.086144 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1552.322369 meters looking forward 0.000000 meters along route # Maximum depth: 1552.322369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.322369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923265; longitude = -129.965867; captureRadius = 10; duration = 100; initialDepth = 1511.831750; finalDepth = 1512.322369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.322369 # Seafloor depth:-1552.322369 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1551.831750 meters looking forward 0.000000 meters along route # Maximum depth: 1551.831750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.831750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922366; longitude = -129.965694; captureRadius = 10; duration = 100; initialDepth = 1513.771218; finalDepth = 1511.831750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.83175 # Seafloor depth:-1551.831750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1553.771218 meters looking forward 0.000000 meters along route # Maximum depth: 1553.771218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.771218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921466; longitude = -129.965521; captureRadius = 10; duration = 100; initialDepth = 1519.012535; finalDepth = 1513.771218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.771218 # Seafloor depth:-1553.771218 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.012535 meters looking forward 0.000000 meters along route # Maximum depth: 1559.012535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.012535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920566; longitude = -129.965347; captureRadius = 10; duration = 100; initialDepth = 1520.936838; finalDepth = 1519.012535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.012535 # Seafloor depth:-1559.012535 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1560.936838 meters looking forward 0.000000 meters along route # Maximum depth: 1560.936838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.936838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919666; longitude = -129.965174; captureRadius = 10; duration = 100; initialDepth = 1519.563629; finalDepth = 1520.936838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.936838 # Seafloor depth:-1560.936838 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.563629 meters looking forward 0.000000 meters along route # Maximum depth: 1559.563629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.563629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918766; longitude = -129.965000; captureRadius = 10; duration = 100; initialDepth = 1524.184068; finalDepth = 1519.563629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.563629 # Seafloor depth:-1559.563629 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1564.184068 meters looking forward 0.000000 meters along route # Maximum depth: 1564.184068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.184068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917867; longitude = -129.964827; captureRadius = 10; duration = 100; initialDepth = 1530.844778; finalDepth = 1524.184068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.184068 # Seafloor depth:-1564.184068 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1570.844778 meters looking forward 0.000000 meters along route # Maximum depth: 1570.844778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.844778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916967; longitude = -129.964654; captureRadius = 10; duration = 100; initialDepth = 1535.574314; finalDepth = 1530.844778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1530.844778 # Seafloor depth:-1570.844778 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1575.574314 meters looking forward 0.000000 meters along route # Maximum depth: 1575.574314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.574314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916067; longitude = -129.964480; captureRadius = 10; duration = 100; initialDepth = 1537.765353; finalDepth = 1535.574314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1535.574314 # Seafloor depth:-1575.574314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1577.765353 meters looking forward 0.000000 meters along route # Maximum depth: 1577.765353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.765353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915167; longitude = -129.964307; captureRadius = 10; duration = 100; initialDepth = 1539.589721; finalDepth = 1537.765353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1537.765353 # Seafloor depth:-1577.765353 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1579.589721 meters looking forward 0.000000 meters along route # Maximum depth: 1579.589721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.589721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914267; longitude = -129.964134; captureRadius = 10; duration = 100; initialDepth = 1542.908741; finalDepth = 1539.589721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1539.589721 # Seafloor depth:-1579.589721 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1582.908741 meters looking forward 0.000000 meters along route # Maximum depth: 1582.908741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.908741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913367; longitude = -129.963960; captureRadius = 10; duration = 100; initialDepth = 1546.371341; finalDepth = 1542.908741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1542.908741 # Seafloor depth:-1582.908741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1586.371341 meters looking forward 0.000000 meters along route # Maximum depth: 1586.371341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.371341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912468; longitude = -129.963787; captureRadius = 10; duration = 100; initialDepth = 1549.628975; finalDepth = 1546.371341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1546.371341 # Seafloor depth:-1586.371341 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1589.628975 meters looking forward 0.000000 meters along route # Maximum depth: 1589.628975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.628975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911568; longitude = -129.963613; captureRadius = 10; duration = 100; initialDepth = 1551.821375; finalDepth = 1549.628975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1549.628975 # Seafloor depth:-1589.628975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1591.821375 meters looking forward 0.000000 meters along route # Maximum depth: 1591.821375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.821375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910668; longitude = -129.963440; captureRadius = 10; duration = 100; initialDepth = 1556.438733; finalDepth = 1551.821375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1551.821375 # Seafloor depth:-1591.821375 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1596.438733 meters looking forward 0.000000 meters along route # Maximum depth: 1596.438733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.438733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909768; longitude = -129.963267; captureRadius = 10; duration = 100; initialDepth = 1560.397057; finalDepth = 1556.438733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1556.438733 # Seafloor depth:-1596.438733 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1600.397057 meters looking forward 0.000000 meters along route # Maximum depth: 1600.397057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.397057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908868; longitude = -129.963093; captureRadius = 10; duration = 100; initialDepth = 1564.350156; finalDepth = 1560.397057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1560.397057 # Seafloor depth:-1600.397057 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1604.350156 meters looking forward 0.000000 meters along route # Maximum depth: 1604.350156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.350156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907968; longitude = -129.962920; captureRadius = 10; duration = 100; initialDepth = 1566.136871; finalDepth = 1564.350156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1564.350156 # Seafloor depth:-1604.350156 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 23 # Segment length 100.957825 meters # Minimum depth: 1606.136871 meters looking forward 0.000000 meters along route # Maximum depth: 1606.136871 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.136871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907071; longitude = -129.962747; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1566.553996; finalDepth = 1566.136871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1566.136871 # Seafloor depth:-1606.136871 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1606.553996 meters looking forward 0.000000 meters along route # Maximum depth: 1606.553996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.553996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907012; longitude = -129.963373; captureRadius = 10; duration = 100; initialDepth = 1561.369965; finalDepth = 1566.553996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1566.553996 # Seafloor depth:-1606.553996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 100.957825 meters # Minimum depth: 1601.369965 meters looking forward 0.000000 meters along route # Maximum depth: 1601.369965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.369965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906891; longitude = -129.964664; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1560.598477; finalDepth = 1561.369965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1561.369965 # Seafloor depth:-1601.369965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1600.598477 meters looking forward 0.000000 meters along route # Maximum depth: 1600.598477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.598477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907384; longitude = -129.964759; captureRadius = 10; duration = 100; initialDepth = 1555.703804; finalDepth = 1560.598477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1560.598477 # Seafloor depth:-1600.598477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1595.703804 meters looking forward 0.000000 meters along route # Maximum depth: 1595.703804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.703804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908283; longitude = -129.964932; captureRadius = 10; duration = 100; initialDepth = 1551.703409; finalDepth = 1555.703804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1555.703804 # Seafloor depth:-1595.703804 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1591.703409 meters looking forward 0.000000 meters along route # Maximum depth: 1591.703409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.703409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909183; longitude = -129.965105; captureRadius = 10; duration = 100; initialDepth = 1548.126312; finalDepth = 1551.703409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1551.703409 # Seafloor depth:-1591.703409 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1588.126312 meters looking forward 0.000000 meters along route # Maximum depth: 1588.126312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.126312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910083; longitude = -129.965279; captureRadius = 10; duration = 100; initialDepth = 1539.921052; finalDepth = 1548.126312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1548.126312 # Seafloor depth:-1588.126312 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1579.921052 meters looking forward 0.000000 meters along route # Maximum depth: 1579.921052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.921052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910983; longitude = -129.965452; captureRadius = 10; duration = 100; initialDepth = 1539.540500; finalDepth = 1539.921052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1539.921052 # Seafloor depth:-1579.921052 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1579.540500 meters looking forward 0.000000 meters along route # Maximum depth: 1579.540500 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.540500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911883; longitude = -129.965625; captureRadius = 10; duration = 100; initialDepth = 1538.117776; finalDepth = 1539.540500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1539.5405 # Seafloor depth:-1579.540500 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1578.117776 meters looking forward 0.000000 meters along route # Maximum depth: 1578.117776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.117776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912783; longitude = -129.965798; captureRadius = 10; duration = 100; initialDepth = 1536.499981; finalDepth = 1538.117776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1538.117776 # Seafloor depth:-1578.117776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1576.499981 meters looking forward 0.000000 meters along route # Maximum depth: 1576.499981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.499981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913682; longitude = -129.965972; captureRadius = 10; duration = 100; initialDepth = 1533.229678; finalDepth = 1536.499981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1536.499981 # Seafloor depth:-1576.499981 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1573.229678 meters looking forward 0.000000 meters along route # Maximum depth: 1573.229678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.229678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914582; longitude = -129.966145; captureRadius = 10; duration = 100; initialDepth = 1532.575160; finalDepth = 1533.229678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1533.229678 # Seafloor depth:-1573.229678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1572.575160 meters looking forward 0.000000 meters along route # Maximum depth: 1572.575160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.575160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915482; longitude = -129.966318; captureRadius = 10; duration = 100; initialDepth = 1532.417423; finalDepth = 1532.575160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1532.57516 # Seafloor depth:-1572.575160 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1572.417423 meters looking forward 0.000000 meters along route # Maximum depth: 1572.417423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.417423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916382; longitude = -129.966491; captureRadius = 10; duration = 100; initialDepth = 1527.261623; finalDepth = 1532.417423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1532.417423 # Seafloor depth:-1572.417423 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1567.261623 meters looking forward 0.000000 meters along route # Maximum depth: 1567.261623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.261623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917282; longitude = -129.966665; captureRadius = 10; duration = 100; initialDepth = 1519.347480; finalDepth = 1527.261623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.261623 # Seafloor depth:-1567.261623 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.347480 meters looking forward 0.000000 meters along route # Maximum depth: 1559.347480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.347480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918181; longitude = -129.966838; captureRadius = 10; duration = 100; initialDepth = 1516.514965; finalDepth = 1519.347480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.34748 # Seafloor depth:-1559.347480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1556.514965 meters looking forward 0.000000 meters along route # Maximum depth: 1556.514965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.514965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919081; longitude = -129.967011; captureRadius = 10; duration = 100; initialDepth = 1517.332137; finalDepth = 1516.514965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.514965 # Seafloor depth:-1556.514965 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1557.332137 meters looking forward 0.000000 meters along route # Maximum depth: 1557.332137 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.332137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919981; longitude = -129.967184; captureRadius = 10; duration = 100; initialDepth = 1514.695996; finalDepth = 1517.332137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.332137 # Seafloor depth:-1557.332137 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1554.695996 meters looking forward 0.000000 meters along route # Maximum depth: 1554.695996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.695996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920881; longitude = -129.967358; captureRadius = 10; duration = 100; initialDepth = 1508.725538; finalDepth = 1514.695996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.695996 # Seafloor depth:-1554.695996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1548.725538 meters looking forward 0.000000 meters along route # Maximum depth: 1548.725538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.725538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921781; longitude = -129.967531; captureRadius = 10; duration = 100; initialDepth = 1506.624581; finalDepth = 1508.725538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.725538 # Seafloor depth:-1548.725538 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1546.624581 meters looking forward 0.000000 meters along route # Maximum depth: 1546.624581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.624581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922681; longitude = -129.967704; captureRadius = 10; duration = 100; initialDepth = 1504.752904; finalDepth = 1506.624581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.624581 # Seafloor depth:-1546.624581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.752904 meters looking forward 0.000000 meters along route # Maximum depth: 1544.752904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.752904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923580; longitude = -129.967877; captureRadius = 10; duration = 100; initialDepth = 1504.421380; finalDepth = 1504.752904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.752904 # Seafloor depth:-1544.752904 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.421380 meters looking forward 0.000000 meters along route # Maximum depth: 1544.421380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.421380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924480; longitude = -129.968051; captureRadius = 10; duration = 100; initialDepth = 1503.863908; finalDepth = 1504.421380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.42138 # Seafloor depth:-1544.421380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1543.863908 meters looking forward 0.000000 meters along route # Maximum depth: 1543.863908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.863908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925380; longitude = -129.968224; captureRadius = 10; duration = 100; initialDepth = 1500.218570; finalDepth = 1503.863908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.863908 # Seafloor depth:-1543.863908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.218570 meters looking forward 0.000000 meters along route # Maximum depth: 1540.218570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.218570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926280; longitude = -129.968397; captureRadius = 10; duration = 100; initialDepth = 1495.976612; finalDepth = 1500.218570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.21857 # Seafloor depth:-1540.218570 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.976612 meters looking forward 0.000000 meters along route # Maximum depth: 1535.976612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.976612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927180; longitude = -129.968570; captureRadius = 10; duration = 100; initialDepth = 1495.487721; finalDepth = 1495.976612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.976612 # Seafloor depth:-1535.976612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.487721 meters looking forward 0.000000 meters along route # Maximum depth: 1535.487721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.487721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928080; longitude = -129.968744; captureRadius = 10; duration = 100; initialDepth = 1495.367189; finalDepth = 1495.487721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.487721 # Seafloor depth:-1535.487721 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.367189 meters looking forward 0.000000 meters along route # Maximum depth: 1535.367189 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.367189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928979; longitude = -129.968917; captureRadius = 10; duration = 100; initialDepth = 1494.879743; finalDepth = 1495.367189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.367189 # Seafloor depth:-1535.367189 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.879743 meters looking forward 0.000000 meters along route # Maximum depth: 1534.879743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.879743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929879; longitude = -129.969090; captureRadius = 10; duration = 100; initialDepth = 1495.383077; finalDepth = 1494.879743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.879743 # Seafloor depth:-1534.879743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.383077 meters looking forward 0.000000 meters along route # Maximum depth: 1535.383077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.383077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930779; longitude = -129.969263; captureRadius = 10; duration = 100; initialDepth = 1493.293658; finalDepth = 1495.383077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.383077 # Seafloor depth:-1535.383077 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.293658 meters looking forward 0.000000 meters along route # Maximum depth: 1533.293658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.293658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931681; longitude = -129.969437; captureRadius = 10; duration = 100; initialDepth = 1492.687995; finalDepth = 1493.293658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.293658 # Seafloor depth:-1533.293658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.687995 meters looking forward 0.000000 meters along route # Maximum depth: 1532.687995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.687995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932579; longitude = -129.969610; captureRadius = 10; duration = 100; initialDepth = 1491.386113; finalDepth = 1492.687995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.687995 # Seafloor depth:-1532.687995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.386113 meters looking forward 0.000000 meters along route # Maximum depth: 1531.386113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.386113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933478; longitude = -129.969783; captureRadius = 10; duration = 100; initialDepth = 1491.272424; finalDepth = 1491.386113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.386113 # Seafloor depth:-1531.386113 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.272424 meters looking forward 0.000000 meters along route # Maximum depth: 1531.272424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.272424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934378; longitude = -129.969956; captureRadius = 10; duration = 100; initialDepth = 1490.323706; finalDepth = 1491.272424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.272424 # Seafloor depth:-1531.272424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.323706 meters looking forward 0.000000 meters along route # Maximum depth: 1530.323706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.323706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935278; longitude = -129.970129; captureRadius = 10; duration = 100; initialDepth = 1489.436523; finalDepth = 1490.323706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.323706 # Seafloor depth:-1530.323706 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.436523 meters looking forward 0.000000 meters along route # Maximum depth: 1529.436523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.436523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936178; longitude = -129.970303; captureRadius = 10; duration = 100; initialDepth = 1488.625130; finalDepth = 1489.436523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.436523 # Seafloor depth:-1529.436523 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.625130 meters looking forward 0.000000 meters along route # Maximum depth: 1528.625130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.625130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937078; longitude = -129.970476; captureRadius = 10; duration = 100; initialDepth = 1487.388107; finalDepth = 1488.625130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.62513 # Seafloor depth:-1528.625130 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.388107 meters looking forward 0.000000 meters along route # Maximum depth: 1527.388107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.388107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937978; longitude = -129.970649; captureRadius = 10; duration = 100; initialDepth = 1488.277539; finalDepth = 1487.388107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.388107 # Seafloor depth:-1527.388107 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.277539 meters looking forward 0.000000 meters along route # Maximum depth: 1528.277539 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.277539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938877; longitude = -129.970822; captureRadius = 10; duration = 100; initialDepth = 1487.209803; finalDepth = 1488.277539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.277539 # Seafloor depth:-1528.277539 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.209803 meters looking forward 0.000000 meters along route # Maximum depth: 1527.209803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.209803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939777; longitude = -129.970996; captureRadius = 10; duration = 100; initialDepth = 1490.081171; finalDepth = 1487.209803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.209803 # Seafloor depth:-1527.209803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.081171 meters looking forward 0.000000 meters along route # Maximum depth: 1530.081171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.081171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940677; longitude = -129.971169; captureRadius = 10; duration = 100; initialDepth = 1490.765298; finalDepth = 1490.081171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.081171 # Seafloor depth:-1530.081171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.765298 meters looking forward 0.000000 meters along route # Maximum depth: 1530.765298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.765298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941577; longitude = -129.971342; captureRadius = 10; duration = 100; initialDepth = 1490.985382; finalDepth = 1490.765298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.765298 # Seafloor depth:-1530.765298 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.985382 meters looking forward 0.000000 meters along route # Maximum depth: 1530.985382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.985382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942477; longitude = -129.971515; captureRadius = 10; duration = 100; initialDepth = 1491.659669; finalDepth = 1490.985382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.985382 # Seafloor depth:-1530.985382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.659669 meters looking forward 0.000000 meters along route # Maximum depth: 1531.659669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.659669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943376; longitude = -129.971689; captureRadius = 10; duration = 100; initialDepth = 1490.878740; finalDepth = 1491.659669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.659669 # Seafloor depth:-1531.659669 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.878740 meters looking forward 0.000000 meters along route # Maximum depth: 1530.878740 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.878740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944276; longitude = -129.971862; captureRadius = 10; duration = 100; initialDepth = 1490.581030; finalDepth = 1490.878740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.87874 # Seafloor depth:-1530.878740 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.581030 meters looking forward 0.000000 meters along route # Maximum depth: 1530.581030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.581030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945176; longitude = -129.972035; captureRadius = 10; duration = 100; initialDepth = 1489.570512; finalDepth = 1490.581030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.58103 # Seafloor depth:-1530.581030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.570512 meters looking forward 0.000000 meters along route # Maximum depth: 1529.570512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.570512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946076; longitude = -129.972208; captureRadius = 10; duration = 100; initialDepth = 1489.918065; finalDepth = 1489.570512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.570512 # Seafloor depth:-1529.570512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.918065 meters looking forward 0.000000 meters along route # Maximum depth: 1529.918065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.918065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946976; longitude = -129.972382; captureRadius = 10; duration = 100; initialDepth = 1490.454926; finalDepth = 1489.918065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.918065 # Seafloor depth:-1529.918065 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1530.454926 meters looking forward 0.000000 meters along route # Maximum depth: 1530.454926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.454926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947902; longitude = -129.972560; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1489.780731; finalDepth = 1490.454926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.454926 # Seafloor depth:-1530.454926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.780731 meters looking forward 0.000000 meters along route # Maximum depth: 1529.780731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.780731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948379; longitude = -129.972727; captureRadius = 10; duration = 100; initialDepth = 1490.648356; finalDepth = 1489.780731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.780731 # Seafloor depth:-1529.780731 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.648356 meters looking forward 0.000000 meters along route # Maximum depth: 1530.648356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.648356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949270; longitude = -129.973039; captureRadius = 10; duration = 100; initialDepth = 1489.744583; finalDepth = 1490.648356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.648356 # Seafloor depth:-1530.648356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.744583 meters looking forward 0.000000 meters along route # Maximum depth: 1529.744583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.744583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950170; longitude = -129.973354; captureRadius = 10; duration = 100; initialDepth = 1485.812467; finalDepth = 1489.744583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.744583 # Seafloor depth:-1529.744583 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.812467 meters looking forward 0.000000 meters along route # Maximum depth: 1525.812467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.812467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951070; longitude = -129.973669; captureRadius = 10; duration = 100; initialDepth = 1484.596765; finalDepth = 1485.812467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.812467 # Seafloor depth:-1525.812467 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.596765 meters looking forward 0.000000 meters along route # Maximum depth: 1524.596765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.596765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951970; longitude = -129.973984; captureRadius = 10; duration = 100; initialDepth = 1482.835401; finalDepth = 1484.596765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.596765 # Seafloor depth:-1524.596765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.835401 meters looking forward 0.000000 meters along route # Maximum depth: 1522.835401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.835401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952870; longitude = -129.974299; captureRadius = 10; duration = 100; initialDepth = 1483.735675; finalDepth = 1482.835401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.835401 # Seafloor depth:-1522.835401 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.735675 meters looking forward 0.000000 meters along route # Maximum depth: 1523.735675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.735675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953769; longitude = -129.974614; captureRadius = 10; duration = 100; initialDepth = 1484.214213; finalDepth = 1483.735675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.735675 # Seafloor depth:-1523.735675 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.214213 meters looking forward 0.000000 meters along route # Maximum depth: 1524.214213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.214213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954645; longitude = -129.974920; captureRadius = 10; duration = 100; initialDepth = 1484.489577; finalDepth = 1484.214213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.214213 # Seafloor depth:-1524.214213 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.489577 meters looking forward 0.000000 meters along route # Maximum depth: 1524.489577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.489577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955524; longitude = -129.975228; captureRadius = 10; duration = 100; initialDepth = 1483.779333; finalDepth = 1484.489577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.489577 # Seafloor depth:-1524.489577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.779333 meters looking forward 0.000000 meters along route # Maximum depth: 1523.779333 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.779333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956424; longitude = -129.975543; captureRadius = 10; duration = 100; initialDepth = 1482.376751; finalDepth = 1483.779333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.779333 # Seafloor depth:-1523.779333 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.376751 meters looking forward 0.000000 meters along route # Maximum depth: 1522.376751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.376751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957324; longitude = -129.975858; captureRadius = 10; duration = 100; initialDepth = 1482.267086; finalDepth = 1482.376751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.376751 # Seafloor depth:-1522.376751 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.267086 meters looking forward 0.000000 meters along route # Maximum depth: 1522.267086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.267086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958224; longitude = -129.976173; captureRadius = 10; duration = 100; initialDepth = 1484.180591; finalDepth = 1482.267086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.267086 # Seafloor depth:-1522.267086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.180591 meters looking forward 0.000000 meters along route # Maximum depth: 1524.180591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.180591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959123; longitude = -129.976488; captureRadius = 10; duration = 100; initialDepth = 1484.127071; finalDepth = 1484.180591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.180591 # Seafloor depth:-1524.180591 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.127071 meters looking forward 0.000000 meters along route # Maximum depth: 1524.127071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.127071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960023; longitude = -129.976803; captureRadius = 10; duration = 100; initialDepth = 1484.204043; finalDepth = 1484.127071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.127071 # Seafloor depth:-1524.127071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.204043 meters looking forward 0.000000 meters along route # Maximum depth: 1524.204043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.204043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960923; longitude = -129.977118; captureRadius = 10; duration = 100; initialDepth = 1484.461909; finalDepth = 1484.204043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.204043 # Seafloor depth:-1524.204043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.461909 meters looking forward 0.000000 meters along route # Maximum depth: 1524.461909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.461909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961832; longitude = -129.977436; captureRadius = 10; duration = 100; initialDepth = 1483.904206; finalDepth = 1484.461909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.461909 # Seafloor depth:-1524.461909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.904206 meters looking forward 0.000000 meters along route # Maximum depth: 1523.904206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.904206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962723; longitude = -129.977748; captureRadius = 10; duration = 100; initialDepth = 1482.726661; finalDepth = 1483.904206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.904206 # Seafloor depth:-1523.904206 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.726661 meters looking forward 0.000000 meters along route # Maximum depth: 1522.726661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.726661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963622; longitude = -129.978063; captureRadius = 10; duration = 100; initialDepth = 1479.720517; finalDepth = 1482.726661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.726661 # Seafloor depth:-1522.726661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.720517 meters looking forward 0.000000 meters along route # Maximum depth: 1519.720517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.720517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964522; longitude = -129.978378; captureRadius = 10; duration = 100; initialDepth = 1470.346432; finalDepth = 1479.720517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.720517 # Seafloor depth:-1519.720517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1510.346432 meters looking forward 0.000000 meters along route # Maximum depth: 1510.346432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.346432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965422; longitude = -129.978693; captureRadius = 10; duration = 100; initialDepth = 1463.373752; finalDepth = 1470.346432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.346432 # Seafloor depth:-1510.346432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1503.373752 meters looking forward 0.000000 meters along route # Maximum depth: 1503.373752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.373752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966322; longitude = -129.979008; captureRadius = 10; duration = 100; initialDepth = 1469.716968; finalDepth = 1463.373752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.373752 # Seafloor depth:-1503.373752 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1509.716968 meters looking forward 0.000000 meters along route # Maximum depth: 1509.716968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.716968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967222; longitude = -129.979323; captureRadius = 10; duration = 100; initialDepth = 1470.478821; finalDepth = 1469.716968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.716968 # Seafloor depth:-1509.716968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1510.478821 meters looking forward 0.000000 meters along route # Maximum depth: 1510.478821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.478821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968099; longitude = -129.979629; captureRadius = 10; duration = 100; initialDepth = 1470.214258; finalDepth = 1470.478821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.478821 # Seafloor depth:-1510.478821 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1510.214258 meters looking forward 0.000000 meters along route # Maximum depth: 1510.214258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.214258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968976; longitude = -129.979937; captureRadius = 10; duration = 100; initialDepth = 1471.578583; finalDepth = 1470.214258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.214258 # Seafloor depth:-1510.214258 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.578583 meters looking forward 0.000000 meters along route # Maximum depth: 1511.578583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.578583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969876; longitude = -129.980252; captureRadius = 10; duration = 100; initialDepth = 1467.826117; finalDepth = 1471.578583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.578583 # Seafloor depth:-1511.578583 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1507.826117 meters looking forward 0.000000 meters along route # Maximum depth: 1507.826117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.826117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970776; longitude = -129.980567; captureRadius = 10; duration = 100; initialDepth = 1462.469998; finalDepth = 1467.826117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.826117 # Seafloor depth:-1507.826117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1502.469998 meters looking forward 0.000000 meters along route # Maximum depth: 1502.469998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.469998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971676; longitude = -129.980882; captureRadius = 10; duration = 100; initialDepth = 1459.701729; finalDepth = 1462.469998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.469998 # Seafloor depth:-1502.469998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1499.701729 meters looking forward 0.000000 meters along route # Maximum depth: 1499.701729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.701729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972576; longitude = -129.981197; captureRadius = 10; duration = 100; initialDepth = 1459.065466; finalDepth = 1459.701729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.701729 # Seafloor depth:-1499.701729 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1499.065466 meters looking forward 0.000000 meters along route # Maximum depth: 1499.065466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.065466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973476; longitude = -129.981512; captureRadius = 10; duration = 100; initialDepth = 1452.284821; finalDepth = 1459.065466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.065466 # Seafloor depth:-1499.065466 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 100.957825 meters # Minimum depth: 1492.284821 meters looking forward 0.000000 meters along route # Maximum depth: 1492.284821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.284821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974368; longitude = -129.981824; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1454.922911; finalDepth = 1452.284821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.284821 # Seafloor depth:-1492.284821 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1494.922911 meters looking forward 0.000000 meters along route # Maximum depth: 1494.922911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1454.922911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.974052; longitude = -129.982468; captureRadius = 10; duration = 100; initialDepth = 1445.742432; finalDepth = 1454.922911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1454.922911 # Seafloor depth:-1494.922911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 100.957825 meters # Minimum depth: 1485.742432 meters looking forward 0.000000 meters along route # Maximum depth: 1485.742432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.742432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973513; longitude = -129.983565; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1445.731455; finalDepth = 1445.742432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1445.742432 # Seafloor depth:-1485.742432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1485.731455 meters looking forward 0.000000 meters along route # Maximum depth: 1485.731455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.731455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973431; longitude = -129.983536; captureRadius = 10; duration = 100; initialDepth = 1448.899372; finalDepth = 1445.731455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1445.731455 # Seafloor depth:-1485.731455 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1488.899372 meters looking forward 0.000000 meters along route # Maximum depth: 1488.899372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.899372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972531; longitude = -129.983218; captureRadius = 10; duration = 100; initialDepth = 1456.233314; finalDepth = 1448.899372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1448.899372 # Seafloor depth:-1488.899372 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1496.233314 meters looking forward 0.000000 meters along route # Maximum depth: 1496.233314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.233314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971631; longitude = -129.982901; captureRadius = 10; duration = 100; initialDepth = 1460.839800; finalDepth = 1456.233314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.233314 # Seafloor depth:-1496.233314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1500.839800 meters looking forward 0.000000 meters along route # Maximum depth: 1500.839800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.839800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970731; longitude = -129.982583; captureRadius = 10; duration = 100; initialDepth = 1465.647467; finalDepth = 1460.839800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1460.8398 # Seafloor depth:-1500.839800 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1505.647467 meters looking forward 0.000000 meters along route # Maximum depth: 1505.647467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.647467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969857; longitude = -129.982274; captureRadius = 10; duration = 100; initialDepth = 1466.509402; finalDepth = 1465.647467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.647467 # Seafloor depth:-1505.647467 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1506.509402 meters looking forward 0.000000 meters along route # Maximum depth: 1506.509402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.509402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968976; longitude = -129.981964; captureRadius = 10; duration = 100; initialDepth = 1466.807796; finalDepth = 1466.509402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.509402 # Seafloor depth:-1506.509402 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1506.807796 meters looking forward 0.000000 meters along route # Maximum depth: 1506.807796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.807796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968077; longitude = -129.981646; captureRadius = 10; duration = 100; initialDepth = 1463.843845; finalDepth = 1466.807796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.807796 # Seafloor depth:-1506.807796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1503.843845 meters looking forward 0.000000 meters along route # Maximum depth: 1503.843845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.843845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967177; longitude = -129.981328; captureRadius = 10; duration = 100; initialDepth = 1463.115378; finalDepth = 1463.843845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.843845 # Seafloor depth:-1503.843845 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1503.115378 meters looking forward 0.000000 meters along route # Maximum depth: 1503.115378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.115378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966277; longitude = -129.981011; captureRadius = 10; duration = 100; initialDepth = 1462.972962; finalDepth = 1463.115378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.115378 # Seafloor depth:-1503.115378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1502.972962 meters looking forward 0.000000 meters along route # Maximum depth: 1502.972962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.972962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965377; longitude = -129.980693; captureRadius = 10; duration = 100; initialDepth = 1472.629870; finalDepth = 1462.972962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.972962 # Seafloor depth:-1502.972962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.629870 meters looking forward 0.000000 meters along route # Maximum depth: 1512.629870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.629870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964477; longitude = -129.980376; captureRadius = 10; duration = 100; initialDepth = 1478.281325; finalDepth = 1472.629870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.62987 # Seafloor depth:-1512.629870 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.281325 meters looking forward 0.000000 meters along route # Maximum depth: 1518.281325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.281325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963577; longitude = -129.980058; captureRadius = 10; duration = 100; initialDepth = 1484.236047; finalDepth = 1478.281325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.281325 # Seafloor depth:-1518.281325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.236047 meters looking forward 0.000000 meters along route # Maximum depth: 1524.236047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.236047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962678; longitude = -129.979740; captureRadius = 10; duration = 100; initialDepth = 1484.343735; finalDepth = 1484.236047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.236047 # Seafloor depth:-1524.236047 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.343735 meters looking forward 0.000000 meters along route # Maximum depth: 1524.343735 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.343735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961778; longitude = -129.979423; captureRadius = 10; duration = 100; initialDepth = 1482.981860; finalDepth = 1484.343735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.343735 # Seafloor depth:-1524.343735 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.981860 meters looking forward 0.000000 meters along route # Maximum depth: 1522.981860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.981860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960901; longitude = -129.979113; captureRadius = 10; duration = 100; initialDepth = 1480.102325; finalDepth = 1482.981860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.98186 # Seafloor depth:-1522.981860 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.102325 meters looking forward 0.000000 meters along route # Maximum depth: 1520.102325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.102325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960023; longitude = -129.978803; captureRadius = 10; duration = 100; initialDepth = 1481.308178; finalDepth = 1480.102325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.102325 # Seafloor depth:-1520.102325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.308178 meters looking forward 0.000000 meters along route # Maximum depth: 1521.308178 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.308178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959123; longitude = -129.978486; captureRadius = 10; duration = 100; initialDepth = 1480.289185; finalDepth = 1481.308178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.308178 # Seafloor depth:-1521.308178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.289185 meters looking forward 0.000000 meters along route # Maximum depth: 1520.289185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.289185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958224; longitude = -129.978168; captureRadius = 10; duration = 100; initialDepth = 1480.802199; finalDepth = 1480.289185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.289185 # Seafloor depth:-1520.289185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.802199 meters looking forward 0.000000 meters along route # Maximum depth: 1520.802199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.802199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957324; longitude = -129.977851; captureRadius = 10; duration = 100; initialDepth = 1480.864806; finalDepth = 1480.802199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.802199 # Seafloor depth:-1520.802199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.864806 meters looking forward 0.000000 meters along route # Maximum depth: 1520.864806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.864806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956424; longitude = -129.977533; captureRadius = 10; duration = 100; initialDepth = 1479.289754; finalDepth = 1480.864806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.864806 # Seafloor depth:-1520.864806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.289754 meters looking forward 0.000000 meters along route # Maximum depth: 1519.289754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.289754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955524; longitude = -129.977215; captureRadius = 10; duration = 100; initialDepth = 1480.971646; finalDepth = 1479.289754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.289754 # Seafloor depth:-1519.289754 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.971646 meters looking forward 0.000000 meters along route # Maximum depth: 1520.971646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.971646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954624; longitude = -129.976898; captureRadius = 10; duration = 100; initialDepth = 1482.480496; finalDepth = 1480.971646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.971646 # Seafloor depth:-1520.971646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.480496 meters looking forward 0.000000 meters along route # Maximum depth: 1522.480496 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.480496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953724; longitude = -129.976580; captureRadius = 10; duration = 100; initialDepth = 1483.310463; finalDepth = 1482.480496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.480496 # Seafloor depth:-1522.480496 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.310463 meters looking forward 0.000000 meters along route # Maximum depth: 1523.310463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.310463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952825; longitude = -129.976262; captureRadius = 10; duration = 100; initialDepth = 1481.322947; finalDepth = 1483.310463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.310463 # Seafloor depth:-1523.310463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.322947 meters looking forward 0.000000 meters along route # Maximum depth: 1521.322947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.322947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951946; longitude = -129.975952; captureRadius = 10; duration = 100; initialDepth = 1482.396558; finalDepth = 1481.322947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.322947 # Seafloor depth:-1521.322947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.396558 meters looking forward 0.000000 meters along route # Maximum depth: 1522.396558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.396558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951070; longitude = -129.975643; captureRadius = 10; duration = 100; initialDepth = 1483.902562; finalDepth = 1482.396558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.396558 # Seafloor depth:-1522.396558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.902562 meters looking forward 0.000000 meters along route # Maximum depth: 1523.902562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.902562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950170; longitude = -129.975325; captureRadius = 10; duration = 100; initialDepth = 1488.902674; finalDepth = 1483.902562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.902562 # Seafloor depth:-1523.902562 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.902674 meters looking forward 0.000000 meters along route # Maximum depth: 1528.902674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.902674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949270; longitude = -129.975008; captureRadius = 10; duration = 100; initialDepth = 1488.231314; finalDepth = 1488.902674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.902674 # Seafloor depth:-1528.902674 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.231314 meters looking forward 0.000000 meters along route # Maximum depth: 1528.231314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.231314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948370; longitude = -129.974690; captureRadius = 10; duration = 100; initialDepth = 1488.875824; finalDepth = 1488.231314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.231314 # Seafloor depth:-1528.231314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1528.875824 meters looking forward 0.000000 meters along route # Maximum depth: 1528.875824 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.875824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947452; longitude = -129.974366; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1488.707203; finalDepth = 1488.875824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.875824 # Seafloor depth:-1528.875824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.707203 meters looking forward 0.000000 meters along route # Maximum depth: 1528.707203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.707203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947201; longitude = -129.974318; captureRadius = 10; duration = 100; initialDepth = 1486.717063; finalDepth = 1488.707203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.707203 # Seafloor depth:-1528.707203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.717063 meters looking forward 0.000000 meters along route # Maximum depth: 1526.717063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.717063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946301; longitude = -129.974146; captureRadius = 10; duration = 100; initialDepth = 1488.107895; finalDepth = 1486.717063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.717063 # Seafloor depth:-1526.717063 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.107895 meters looking forward 0.000000 meters along route # Maximum depth: 1528.107895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.107895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945401; longitude = -129.973974; captureRadius = 10; duration = 100; initialDepth = 1488.448939; finalDepth = 1488.107895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.107895 # Seafloor depth:-1528.107895 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.448939 meters looking forward 0.000000 meters along route # Maximum depth: 1528.448939 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.448939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944501; longitude = -129.973802; captureRadius = 10; duration = 100; initialDepth = 1488.343110; finalDepth = 1488.448939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.448939 # Seafloor depth:-1528.448939 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.343110 meters looking forward 0.000000 meters along route # Maximum depth: 1528.343110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.343110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943601; longitude = -129.973630; captureRadius = 10; duration = 100; initialDepth = 1489.079893; finalDepth = 1488.343110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.34311 # Seafloor depth:-1528.343110 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.079893 meters looking forward 0.000000 meters along route # Maximum depth: 1529.079893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.079893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942702; longitude = -129.973458; captureRadius = 10; duration = 100; initialDepth = 1488.585800; finalDepth = 1489.079893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.079893 # Seafloor depth:-1529.079893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.585800 meters looking forward 0.000000 meters along route # Maximum depth: 1528.585800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.585800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941802; longitude = -129.973286; captureRadius = 10; duration = 100; initialDepth = 1486.125120; finalDepth = 1488.585800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.5858 # Seafloor depth:-1528.585800 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.125120 meters looking forward 0.000000 meters along route # Maximum depth: 1526.125120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.125120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940901; longitude = -129.973114; captureRadius = 10; duration = 100; initialDepth = 1488.455980; finalDepth = 1486.125120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.12512 # Seafloor depth:-1526.125120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.455980 meters looking forward 0.000000 meters along route # Maximum depth: 1528.455980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.455980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940002; longitude = -129.972942; captureRadius = 10; duration = 100; initialDepth = 1488.969585; finalDepth = 1488.455980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.45598 # Seafloor depth:-1528.455980 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.969585 meters looking forward 0.000000 meters along route # Maximum depth: 1528.969585 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.969585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939102; longitude = -129.972770; captureRadius = 10; duration = 100; initialDepth = 1487.793175; finalDepth = 1488.969585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.969585 # Seafloor depth:-1528.969585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.793175 meters looking forward 0.000000 meters along route # Maximum depth: 1527.793175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.793175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938200; longitude = -129.972598; captureRadius = 10; duration = 100; initialDepth = 1487.002084; finalDepth = 1487.793175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.793175 # Seafloor depth:-1527.793175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.002084 meters looking forward 0.000000 meters along route # Maximum depth: 1527.002084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.002084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937303; longitude = -129.972426; captureRadius = 10; duration = 100; initialDepth = 1487.236936; finalDepth = 1487.002084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.002084 # Seafloor depth:-1527.002084 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.236936 meters looking forward 0.000000 meters along route # Maximum depth: 1527.236936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.236936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936403; longitude = -129.972254; captureRadius = 10; duration = 100; initialDepth = 1487.187293; finalDepth = 1487.236936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.236936 # Seafloor depth:-1527.236936 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.187293 meters looking forward 0.000000 meters along route # Maximum depth: 1527.187293 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.187293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935500; longitude = -129.972082; captureRadius = 10; duration = 100; initialDepth = 1488.991806; finalDepth = 1487.187293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.187293 # Seafloor depth:-1527.187293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.991806 meters looking forward 0.000000 meters along route # Maximum depth: 1528.991806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.991806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934603; longitude = -129.971910; captureRadius = 10; duration = 100; initialDepth = 1490.078424; finalDepth = 1488.991806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.991806 # Seafloor depth:-1528.991806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.078424 meters looking forward 0.000000 meters along route # Maximum depth: 1530.078424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.078424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933703; longitude = -129.971739; captureRadius = 10; duration = 100; initialDepth = 1490.122805; finalDepth = 1490.078424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.078424 # Seafloor depth:-1530.078424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.122805 meters looking forward 0.000000 meters along route # Maximum depth: 1530.122805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.122805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932799; longitude = -129.971566; captureRadius = 10; duration = 100; initialDepth = 1489.538993; finalDepth = 1490.122805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.122805 # Seafloor depth:-1530.122805 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.538993 meters looking forward 0.000000 meters along route # Maximum depth: 1529.538993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.538993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931904; longitude = -129.971395; captureRadius = 10; duration = 100; initialDepth = 1490.056486; finalDepth = 1489.538993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.538993 # Seafloor depth:-1529.538993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.056486 meters looking forward 0.000000 meters along route # Maximum depth: 1530.056486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.056486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931004; longitude = -129.971223; captureRadius = 10; duration = 100; initialDepth = 1493.016517; finalDepth = 1490.056486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.056486 # Seafloor depth:-1530.056486 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.016517 meters looking forward 0.000000 meters along route # Maximum depth: 1533.016517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.016517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930099; longitude = -129.971050; captureRadius = 10; duration = 100; initialDepth = 1493.163418; finalDepth = 1493.016517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.016517 # Seafloor depth:-1533.016517 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.163418 meters looking forward 0.000000 meters along route # Maximum depth: 1533.163418 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.163418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929204; longitude = -129.970879; captureRadius = 10; duration = 100; initialDepth = 1494.752676; finalDepth = 1493.163418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.163418 # Seafloor depth:-1533.163418 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.752676 meters looking forward 0.000000 meters along route # Maximum depth: 1534.752676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.752676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928304; longitude = -129.970707; captureRadius = 10; duration = 100; initialDepth = 1493.833612; finalDepth = 1494.752676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.752676 # Seafloor depth:-1534.752676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.833612 meters looking forward 0.000000 meters along route # Maximum depth: 1533.833612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.833612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927398; longitude = -129.970534; captureRadius = 10; duration = 100; initialDepth = 1497.907723; finalDepth = 1493.833612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.833612 # Seafloor depth:-1533.833612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.907723 meters looking forward 0.000000 meters along route # Maximum depth: 1537.907723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.907723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926505; longitude = -129.970363; captureRadius = 10; duration = 100; initialDepth = 1501.927493; finalDepth = 1497.907723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.907723 # Seafloor depth:-1537.907723 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1541.927493 meters looking forward 0.000000 meters along route # Maximum depth: 1541.927493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.927493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925605; longitude = -129.970191; captureRadius = 10; duration = 100; initialDepth = 1501.847825; finalDepth = 1501.927493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.927493 # Seafloor depth:-1541.927493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1541.847825 meters looking forward 0.000000 meters along route # Maximum depth: 1541.847825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.847825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924698; longitude = -129.970017; captureRadius = 10; duration = 100; initialDepth = 1502.505812; finalDepth = 1501.847825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.847825 # Seafloor depth:-1541.847825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1542.505812 meters looking forward 0.000000 meters along route # Maximum depth: 1542.505812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.505812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923805; longitude = -129.969847; captureRadius = 10; duration = 100; initialDepth = 1505.442966; finalDepth = 1502.505812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.505812 # Seafloor depth:-1542.505812 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1545.442966 meters looking forward 0.000000 meters along route # Maximum depth: 1545.442966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.442966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922906; longitude = -129.969675; captureRadius = 10; duration = 100; initialDepth = 1507.005745; finalDepth = 1505.442966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.442966 # Seafloor depth:-1545.442966 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1547.005745 meters looking forward 0.000000 meters along route # Maximum depth: 1547.005745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.005745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922006; longitude = -129.969503; captureRadius = 10; duration = 100; initialDepth = 1509.101115; finalDepth = 1507.005745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.005745 # Seafloor depth:-1547.005745 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1549.101115 meters looking forward 0.000000 meters along route # Maximum depth: 1549.101115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.101115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921106; longitude = -129.969331; captureRadius = 10; duration = 100; initialDepth = 1511.988205; finalDepth = 1509.101115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.101115 # Seafloor depth:-1549.101115 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1551.988205 meters looking forward 0.000000 meters along route # Maximum depth: 1551.988205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.988205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920206; longitude = -129.969159; captureRadius = 10; duration = 100; initialDepth = 1513.448406; finalDepth = 1511.988205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.988205 # Seafloor depth:-1551.988205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1553.448406 meters looking forward 0.000000 meters along route # Maximum depth: 1553.448406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.448406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919306; longitude = -129.968987; captureRadius = 10; duration = 100; initialDepth = 1514.752356; finalDepth = 1513.448406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.448406 # Seafloor depth:-1553.448406 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1554.752356 meters looking forward 0.000000 meters along route # Maximum depth: 1554.752356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.752356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918406; longitude = -129.968815; captureRadius = 10; duration = 100; initialDepth = 1518.192019; finalDepth = 1514.752356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.752356 # Seafloor depth:-1554.752356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1558.192019 meters looking forward 0.000000 meters along route # Maximum depth: 1558.192019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.192019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917507; longitude = -129.968643; captureRadius = 10; duration = 100; initialDepth = 1524.762261; finalDepth = 1518.192019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1518.192019 # Seafloor depth:-1558.192019 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1564.762261 meters looking forward 0.000000 meters along route # Maximum depth: 1564.762261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.762261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916607; longitude = -129.968471; captureRadius = 10; duration = 100; initialDepth = 1525.972930; finalDepth = 1524.762261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.762261 # Seafloor depth:-1564.762261 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1565.972930 meters looking forward 0.000000 meters along route # Maximum depth: 1565.972930 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.972930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915707; longitude = -129.968299; captureRadius = 10; duration = 100; initialDepth = 1527.114522; finalDepth = 1525.972930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.97293 # Seafloor depth:-1565.972930 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1567.114522 meters looking forward 0.000000 meters along route # Maximum depth: 1567.114522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.114522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914807; longitude = -129.968127; captureRadius = 10; duration = 100; initialDepth = 1528.754527; finalDepth = 1527.114522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.114522 # Seafloor depth:-1567.114522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1568.754527 meters looking forward 0.000000 meters along route # Maximum depth: 1568.754527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.754527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913907; longitude = -129.967955; captureRadius = 10; duration = 100; initialDepth = 1530.013728; finalDepth = 1528.754527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1528.754527 # Seafloor depth:-1568.754527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1570.013728 meters looking forward 0.000000 meters along route # Maximum depth: 1570.013728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.013728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913007; longitude = -129.967783; captureRadius = 10; duration = 100; initialDepth = 1534.015448; finalDepth = 1530.013728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1530.013728 # Seafloor depth:-1570.013728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1574.015448 meters looking forward 0.000000 meters along route # Maximum depth: 1574.015448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.015448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912108; longitude = -129.967611; captureRadius = 10; duration = 100; initialDepth = 1531.964559; finalDepth = 1534.015448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1534.015448 # Seafloor depth:-1574.015448 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1571.964559 meters looking forward 0.000000 meters along route # Maximum depth: 1571.964559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.964559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911208; longitude = -129.967439; captureRadius = 10; duration = 100; initialDepth = 1535.096367; finalDepth = 1531.964559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.964559 # Seafloor depth:-1571.964559 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1575.096367 meters looking forward 0.000000 meters along route # Maximum depth: 1575.096367 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.096367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910308; longitude = -129.967267; captureRadius = 10; duration = 100; initialDepth = 1540.375644; finalDepth = 1535.096367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1535.096367 # Seafloor depth:-1575.096367 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1580.375644 meters looking forward 0.000000 meters along route # Maximum depth: 1580.375644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.375644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909408; longitude = -129.967095; captureRadius = 10; duration = 100; initialDepth = 1547.532048; finalDepth = 1540.375644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1540.375644 # Seafloor depth:-1580.375644 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1587.532048 meters looking forward 0.000000 meters along route # Maximum depth: 1587.532048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1547.532048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908508; longitude = -129.966923; captureRadius = 10; duration = 100; initialDepth = 1552.975902; finalDepth = 1547.532048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1547.532048 # Seafloor depth:-1587.532048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1592.975902 meters looking forward 0.000000 meters along route # Maximum depth: 1592.975902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.975902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907609; longitude = -129.966752; captureRadius = 10; duration = 100; initialDepth = 1553.862549; finalDepth = 1552.975902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1552.975902 # Seafloor depth:-1592.975902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 100.957825 meters # Minimum depth: 1593.862549 meters looking forward 0.000000 meters along route # Maximum depth: 1593.862549 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.862549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906711; longitude = -129.966580; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1550.105162; finalDepth = 1553.862549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1553.862549 # Seafloor depth:-1593.862549 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.957825 meters # Minimum depth: 1590.105162 meters looking forward 0.000000 meters along route # Maximum depth: 1590.105162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.105162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906655; longitude = -129.967179; captureRadius = 10; duration = 100; initialDepth = 1544.471985; finalDepth = 1550.105162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1550.105162 # Seafloor depth:-1590.105162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1584.471985 meters looking forward 0.000000 meters along route # Maximum depth: 1584.471985 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.471985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906531; longitude = -129.968497; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1544.043227; finalDepth = 1544.471985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1544.471985 # Seafloor depth:-1584.471985 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1584.043227 meters looking forward 0.000000 meters along route # Maximum depth: 1584.043227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.043227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906664; longitude = -129.968523; captureRadius = 10; duration = 100; initialDepth = 1543.199915; finalDepth = 1544.043227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1544.043227 # Seafloor depth:-1584.043227 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1583.199915 meters looking forward 0.000000 meters along route # Maximum depth: 1583.199915 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.199915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907564; longitude = -129.968696; captureRadius = 10; duration = 100; initialDepth = 1537.878560; finalDepth = 1543.199915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1543.199915 # Seafloor depth:-1583.199915 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1577.878560 meters looking forward 0.000000 meters along route # Maximum depth: 1577.878560 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.878560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908463; longitude = -129.968870; captureRadius = 10; duration = 100; initialDepth = 1535.117651; finalDepth = 1537.878560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1537.87856 # Seafloor depth:-1577.878560 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1575.117651 meters looking forward 0.000000 meters along route # Maximum depth: 1575.117651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.117651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909363; longitude = -129.969044; captureRadius = 10; duration = 100; initialDepth = 1531.967526; finalDepth = 1535.117651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1535.117651 # Seafloor depth:-1575.117651 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1571.967526 meters looking forward 0.000000 meters along route # Maximum depth: 1571.967526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.967526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910263; longitude = -129.969218; captureRadius = 10; duration = 100; initialDepth = 1529.504026; finalDepth = 1531.967526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.967526 # Seafloor depth:-1571.967526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1569.504026 meters looking forward 0.000000 meters along route # Maximum depth: 1569.504026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.504026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911163; longitude = -129.969392; captureRadius = 10; duration = 100; initialDepth = 1527.608716; finalDepth = 1529.504026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1529.504026 # Seafloor depth:-1569.504026 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1567.608716 meters looking forward 0.000000 meters along route # Maximum depth: 1567.608716 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.608716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912065; longitude = -129.969566; captureRadius = 10; duration = 100; initialDepth = 1525.810175; finalDepth = 1527.608716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.608716 # Seafloor depth:-1567.608716 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1565.810175 meters looking forward 0.000000 meters along route # Maximum depth: 1565.810175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.810175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912963; longitude = -129.969739; captureRadius = 10; duration = 100; initialDepth = 1523.894905; finalDepth = 1525.810175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.810175 # Seafloor depth:-1565.810175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1563.894905 meters looking forward 0.000000 meters along route # Maximum depth: 1563.894905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.894905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913862; longitude = -129.969913; captureRadius = 10; duration = 100; initialDepth = 1525.418311; finalDepth = 1523.894905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.894905 # Seafloor depth:-1563.894905 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1565.418311 meters looking forward 0.000000 meters along route # Maximum depth: 1565.418311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.418311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914762; longitude = -129.970087; captureRadius = 10; duration = 100; initialDepth = 1523.008171; finalDepth = 1525.418311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1525.418311 # Seafloor depth:-1565.418311 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1563.008171 meters looking forward 0.000000 meters along route # Maximum depth: 1563.008171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.008171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915662; longitude = -129.970261; captureRadius = 10; duration = 100; initialDepth = 1520.978899; finalDepth = 1523.008171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.008171 # Seafloor depth:-1563.008171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1560.978899 meters looking forward 0.000000 meters along route # Maximum depth: 1560.978899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.978899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916562; longitude = -129.970434; captureRadius = 10; duration = 100; initialDepth = 1517.200551; finalDepth = 1520.978899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1520.978899 # Seafloor depth:-1560.978899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1557.200551 meters looking forward 0.000000 meters along route # Maximum depth: 1557.200551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.200551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917462; longitude = -129.970608; captureRadius = 10; duration = 100; initialDepth = 1514.168469; finalDepth = 1517.200551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.200551 # Seafloor depth:-1557.200551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1554.168469 meters looking forward 0.000000 meters along route # Maximum depth: 1554.168469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.168469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918361; longitude = -129.970782; captureRadius = 10; duration = 100; initialDepth = 1512.534805; finalDepth = 1514.168469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.168469 # Seafloor depth:-1554.168469 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1552.534805 meters looking forward 0.000000 meters along route # Maximum depth: 1552.534805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.534805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919261; longitude = -129.970956; captureRadius = 10; duration = 100; initialDepth = 1510.234382; finalDepth = 1512.534805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.534805 # Seafloor depth:-1552.534805 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1550.234382 meters looking forward 0.000000 meters along route # Maximum depth: 1550.234382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.234382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920161; longitude = -129.971130; captureRadius = 10; duration = 100; initialDepth = 1508.426945; finalDepth = 1510.234382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1510.234382 # Seafloor depth:-1550.234382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1548.426945 meters looking forward 0.000000 meters along route # Maximum depth: 1548.426945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.426945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921061; longitude = -129.971303; captureRadius = 10; duration = 100; initialDepth = 1504.095896; finalDepth = 1508.426945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1508.426945 # Seafloor depth:-1548.426945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.095896 meters looking forward 0.000000 meters along route # Maximum depth: 1544.095896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.095896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921961; longitude = -129.971477; captureRadius = 10; duration = 100; initialDepth = 1500.460266; finalDepth = 1504.095896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.095896 # Seafloor depth:-1544.095896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.460266 meters looking forward 0.000000 meters along route # Maximum depth: 1540.460266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.460266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922861; longitude = -129.971651; captureRadius = 10; duration = 100; initialDepth = 1499.485282; finalDepth = 1500.460266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.460266 # Seafloor depth:-1540.460266 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.485282 meters looking forward 0.000000 meters along route # Maximum depth: 1539.485282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.485282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923760; longitude = -129.971825; captureRadius = 10; duration = 100; initialDepth = 1499.605830; finalDepth = 1499.485282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.485282 # Seafloor depth:-1539.485282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.605830 meters looking forward 0.000000 meters along route # Maximum depth: 1539.605830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.605830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924660; longitude = -129.971999; captureRadius = 10; duration = 100; initialDepth = 1498.835535; finalDepth = 1499.605830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.60583 # Seafloor depth:-1539.605830 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.835535 meters looking forward 0.000000 meters along route # Maximum depth: 1538.835535 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.835535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925560; longitude = -129.972172; captureRadius = 10; duration = 100; initialDepth = 1495.908720; finalDepth = 1498.835535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.835535 # Seafloor depth:-1538.835535 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.908720 meters looking forward 0.000000 meters along route # Maximum depth: 1535.908720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.908720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926460; longitude = -129.972346; captureRadius = 10; duration = 100; initialDepth = 1492.503799; finalDepth = 1495.908720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.90872 # Seafloor depth:-1535.908720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.503799 meters looking forward 0.000000 meters along route # Maximum depth: 1532.503799 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.503799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927360; longitude = -129.972520; captureRadius = 10; duration = 100; initialDepth = 1491.244789; finalDepth = 1492.503799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.503799 # Seafloor depth:-1532.503799 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.244789 meters looking forward 0.000000 meters along route # Maximum depth: 1531.244789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.244789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928259; longitude = -129.972694; captureRadius = 10; duration = 100; initialDepth = 1491.482658; finalDepth = 1491.244789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.244789 # Seafloor depth:-1531.244789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.482658 meters looking forward 0.000000 meters along route # Maximum depth: 1531.482658 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.482658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929159; longitude = -129.972868; captureRadius = 10; duration = 100; initialDepth = 1489.212687; finalDepth = 1491.482658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.482658 # Seafloor depth:-1531.482658 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.212687 meters looking forward 0.000000 meters along route # Maximum depth: 1529.212687 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.212687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930059; longitude = -129.973041; captureRadius = 10; duration = 100; initialDepth = 1488.458066; finalDepth = 1489.212687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.212687 # Seafloor depth:-1529.212687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.458066 meters looking forward 0.000000 meters along route # Maximum depth: 1528.458066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.458066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930959; longitude = -129.973215; captureRadius = 10; duration = 100; initialDepth = 1488.381894; finalDepth = 1488.458066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.458066 # Seafloor depth:-1528.458066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.381894 meters looking forward 0.000000 meters along route # Maximum depth: 1528.381894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.381894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931859; longitude = -129.973389; captureRadius = 10; duration = 100; initialDepth = 1487.509702; finalDepth = 1488.381894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.381894 # Seafloor depth:-1528.381894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.509702 meters looking forward 0.000000 meters along route # Maximum depth: 1527.509702 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.509702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932759; longitude = -129.973563; captureRadius = 10; duration = 100; initialDepth = 1485.936882; finalDepth = 1487.509702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.509702 # Seafloor depth:-1527.509702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.936882 meters looking forward 0.000000 meters along route # Maximum depth: 1525.936882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.936882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933658; longitude = -129.973737; captureRadius = 10; duration = 100; initialDepth = 1484.128976; finalDepth = 1485.936882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.936882 # Seafloor depth:-1525.936882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.128976 meters looking forward 0.000000 meters along route # Maximum depth: 1524.128976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.128976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934558; longitude = -129.973910; captureRadius = 10; duration = 100; initialDepth = 1484.427900; finalDepth = 1484.128976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.128976 # Seafloor depth:-1524.128976 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.427900 meters looking forward 0.000000 meters along route # Maximum depth: 1524.427900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.427900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935458; longitude = -129.974084; captureRadius = 10; duration = 100; initialDepth = 1483.253462; finalDepth = 1484.427900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.4279 # Seafloor depth:-1524.427900 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.253462 meters looking forward 0.000000 meters along route # Maximum depth: 1523.253462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.253462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936358; longitude = -129.974258; captureRadius = 10; duration = 100; initialDepth = 1484.713611; finalDepth = 1483.253462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.253462 # Seafloor depth:-1523.253462 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.713611 meters looking forward 0.000000 meters along route # Maximum depth: 1524.713611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.713611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937258; longitude = -129.974432; captureRadius = 10; duration = 100; initialDepth = 1486.063682; finalDepth = 1484.713611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.713611 # Seafloor depth:-1524.713611 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.063682 meters looking forward 0.000000 meters along route # Maximum depth: 1526.063682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.063682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938158; longitude = -129.974606; captureRadius = 10; duration = 100; initialDepth = 1482.470722; finalDepth = 1486.063682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.063682 # Seafloor depth:-1526.063682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.470722 meters looking forward 0.000000 meters along route # Maximum depth: 1522.470722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.470722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939057; longitude = -129.974780; captureRadius = 10; duration = 100; initialDepth = 1480.795097; finalDepth = 1482.470722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.470722 # Seafloor depth:-1522.470722 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.795097 meters looking forward 0.000000 meters along route # Maximum depth: 1520.795097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.795097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939957; longitude = -129.974953; captureRadius = 10; duration = 100; initialDepth = 1480.581975; finalDepth = 1480.795097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.795097 # Seafloor depth:-1520.795097 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.581975 meters looking forward 0.000000 meters along route # Maximum depth: 1520.581975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.581975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940857; longitude = -129.975127; captureRadius = 10; duration = 100; initialDepth = 1479.090602; finalDepth = 1480.581975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.581975 # Seafloor depth:-1520.581975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.090602 meters looking forward 0.000000 meters along route # Maximum depth: 1519.090602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.090602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941757; longitude = -129.975301; captureRadius = 10; duration = 100; initialDepth = 1479.878689; finalDepth = 1479.090602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.090602 # Seafloor depth:-1519.090602 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.878689 meters looking forward 0.000000 meters along route # Maximum depth: 1519.878689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.878689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942657; longitude = -129.975475; captureRadius = 10; duration = 100; initialDepth = 1481.537936; finalDepth = 1479.878689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.878689 # Seafloor depth:-1519.878689 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.537936 meters looking forward 0.000000 meters along route # Maximum depth: 1521.537936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.537936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943556; longitude = -129.975649; captureRadius = 10; duration = 100; initialDepth = 1481.579432; finalDepth = 1481.537936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.537936 # Seafloor depth:-1521.537936 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.579432 meters looking forward 0.000000 meters along route # Maximum depth: 1521.579432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.579432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944462; longitude = -129.975823; captureRadius = 10; duration = 100; initialDepth = 1482.576402; finalDepth = 1481.579432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.579432 # Seafloor depth:-1521.579432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.576402 meters looking forward 0.000000 meters along route # Maximum depth: 1522.576402 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.576402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945356; longitude = -129.975996; captureRadius = 10; duration = 100; initialDepth = 1480.000168; finalDepth = 1482.576402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.576402 # Seafloor depth:-1522.576402 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.000168 meters looking forward 0.000000 meters along route # Maximum depth: 1520.000168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.000168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946256; longitude = -129.976170; captureRadius = 10; duration = 100; initialDepth = 1479.360229; finalDepth = 1480.000168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.000168 # Seafloor depth:-1520.000168 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1519.360229 meters looking forward 0.000000 meters along route # Maximum depth: 1519.360229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.360229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947152; longitude = -129.976343; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1479.254186; finalDepth = 1479.360229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.360229 # Seafloor depth:-1519.360229 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.254186 meters looking forward 0.000000 meters along route # Maximum depth: 1519.254186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.254186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947201; longitude = -129.976360; captureRadius = 10; duration = 100; initialDepth = 1477.143073; finalDepth = 1479.254186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.254186 # Seafloor depth:-1519.254186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.143073 meters looking forward 0.000000 meters along route # Maximum depth: 1517.143073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.143073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948101; longitude = -129.976674; captureRadius = 10; duration = 100; initialDepth = 1480.036463; finalDepth = 1477.143073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.143073 # Seafloor depth:-1517.143073 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.036463 meters looking forward 0.000000 meters along route # Maximum depth: 1520.036463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.036463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949000; longitude = -129.976988; captureRadius = 10; duration = 100; initialDepth = 1482.524977; finalDepth = 1480.036463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.036463 # Seafloor depth:-1520.036463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.524977 meters looking forward 0.000000 meters along route # Maximum depth: 1522.524977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.524977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949915; longitude = -129.977307; captureRadius = 10; duration = 100; initialDepth = 1480.431369; finalDepth = 1482.524977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.524977 # Seafloor depth:-1522.524977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.431369 meters looking forward 0.000000 meters along route # Maximum depth: 1520.431369 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.431369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950800; longitude = -129.977616; captureRadius = 10; duration = 100; initialDepth = 1477.145294; finalDepth = 1480.431369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.431369 # Seafloor depth:-1520.431369 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.145294 meters looking forward 0.000000 meters along route # Maximum depth: 1517.145294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.145294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951700; longitude = -129.977930; captureRadius = 10; duration = 100; initialDepth = 1475.657841; finalDepth = 1477.145294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.145294 # Seafloor depth:-1517.145294 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.657841 meters looking forward 0.000000 meters along route # Maximum depth: 1515.657841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.657841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952600; longitude = -129.978244; captureRadius = 10; duration = 100; initialDepth = 1475.764595; finalDepth = 1475.657841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.657841 # Seafloor depth:-1515.657841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.764595 meters looking forward 0.000000 meters along route # Maximum depth: 1515.764595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.764595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953499; longitude = -129.978557; captureRadius = 10; duration = 100; initialDepth = 1476.480706; finalDepth = 1475.764595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.764595 # Seafloor depth:-1515.764595 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.480706 meters looking forward 0.000000 meters along route # Maximum depth: 1516.480706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.480706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954399; longitude = -129.978871; captureRadius = 10; duration = 100; initialDepth = 1477.414462; finalDepth = 1476.480706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.480706 # Seafloor depth:-1516.480706 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.414462 meters looking forward 0.000000 meters along route # Maximum depth: 1517.414462 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.414462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955299; longitude = -129.979185; captureRadius = 10; duration = 100; initialDepth = 1478.711321; finalDepth = 1477.414462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.414462 # Seafloor depth:-1517.414462 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.711321 meters looking forward 0.000000 meters along route # Maximum depth: 1518.711321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.711321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956202; longitude = -129.979500; captureRadius = 10; duration = 100; initialDepth = 1479.613361; finalDepth = 1478.711321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.711321 # Seafloor depth:-1518.711321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.613361 meters looking forward 0.000000 meters along route # Maximum depth: 1519.613361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.613361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957099; longitude = -129.979813; captureRadius = 10; duration = 100; initialDepth = 1478.265325; finalDepth = 1479.613361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.613361 # Seafloor depth:-1519.613361 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.265325 meters looking forward 0.000000 meters along route # Maximum depth: 1518.265325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.265325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957999; longitude = -129.980127; captureRadius = 10; duration = 100; initialDepth = 1476.459808; finalDepth = 1478.265325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.265325 # Seafloor depth:-1518.265325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.459808 meters looking forward 0.000000 meters along route # Maximum depth: 1516.459808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.459808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958898; longitude = -129.980441; captureRadius = 10; duration = 100; initialDepth = 1471.737442; finalDepth = 1476.459808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.459808 # Seafloor depth:-1516.459808 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.737442 meters looking forward 0.000000 meters along route # Maximum depth: 1511.737442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.737442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959798; longitude = -129.980755; captureRadius = 10; duration = 100; initialDepth = 1475.052096; finalDepth = 1471.737442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.737442 # Seafloor depth:-1511.737442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.052096 meters looking forward 0.000000 meters along route # Maximum depth: 1515.052096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.052096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960698; longitude = -129.981069; captureRadius = 10; duration = 100; initialDepth = 1476.320547; finalDepth = 1475.052096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.052096 # Seafloor depth:-1515.052096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.320547 meters looking forward 0.000000 meters along route # Maximum depth: 1516.320547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.320547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961598; longitude = -129.981383; captureRadius = 10; duration = 100; initialDepth = 1471.833529; finalDepth = 1476.320547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.320547 # Seafloor depth:-1516.320547 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.833529 meters looking forward 0.000000 meters along route # Maximum depth: 1511.833529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.833529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962498; longitude = -129.981697; captureRadius = 10; duration = 100; initialDepth = 1467.559619; finalDepth = 1471.833529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.833529 # Seafloor depth:-1511.833529 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1507.559619 meters looking forward 0.000000 meters along route # Maximum depth: 1507.559619 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.559619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963414; longitude = -129.982016; captureRadius = 10; duration = 100; initialDepth = 1465.414267; finalDepth = 1467.559619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.559619 # Seafloor depth:-1507.559619 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1505.414267 meters looking forward 0.000000 meters along route # Maximum depth: 1505.414267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.414267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964297; longitude = -129.982325; captureRadius = 10; duration = 100; initialDepth = 1463.495543; finalDepth = 1465.414267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.414267 # Seafloor depth:-1505.414267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1503.495543 meters looking forward 0.000000 meters along route # Maximum depth: 1503.495543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.495543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965197; longitude = -129.982639; captureRadius = 10; duration = 100; initialDepth = 1464.248791; finalDepth = 1463.495543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.495543 # Seafloor depth:-1503.495543 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1504.248791 meters looking forward 0.000000 meters along route # Maximum depth: 1504.248791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.248791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966097; longitude = -129.982952; captureRadius = 10; duration = 100; initialDepth = 1465.792648; finalDepth = 1464.248791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.248791 # Seafloor depth:-1504.248791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1505.792648 meters looking forward 0.000000 meters along route # Maximum depth: 1505.792648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.792648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966997; longitude = -129.983266; captureRadius = 10; duration = 100; initialDepth = 1466.258173; finalDepth = 1465.792648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.792648 # Seafloor depth:-1505.792648 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1506.258173 meters looking forward 0.000000 meters along route # Maximum depth: 1506.258173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.258173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967897; longitude = -129.983580; captureRadius = 10; duration = 100; initialDepth = 1465.947324; finalDepth = 1466.258173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.258173 # Seafloor depth:-1506.258173 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1505.947324 meters looking forward 0.000000 meters along route # Maximum depth: 1505.947324 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.947324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968796; longitude = -129.983894; captureRadius = 10; duration = 100; initialDepth = 1462.455703; finalDepth = 1465.947324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.947324 # Seafloor depth:-1505.947324 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1502.455703 meters looking forward 0.000000 meters along route # Maximum depth: 1502.455703 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.455703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969701; longitude = -129.984210; captureRadius = 10; duration = 100; initialDepth = 1457.970103; finalDepth = 1462.455703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.455703 # Seafloor depth:-1502.455703 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1497.970103 meters looking forward 0.000000 meters along route # Maximum depth: 1497.970103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.970103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970596; longitude = -129.984522; captureRadius = 10; duration = 100; initialDepth = 1454.814859; finalDepth = 1457.970103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1457.970103 # Seafloor depth:-1497.970103 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1494.814859 meters looking forward 0.000000 meters along route # Maximum depth: 1494.814859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1454.814859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971496; longitude = -129.984836; captureRadius = 10; duration = 100; initialDepth = 1449.269407; finalDepth = 1454.814859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1454.814859 # Seafloor depth:-1494.814859 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1489.269407 meters looking forward 0.000000 meters along route # Maximum depth: 1489.269407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.269407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972396; longitude = -129.985150; captureRadius = 10; duration = 100; initialDepth = 1445.053772; finalDepth = 1449.269407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.269407 # Seafloor depth:-1489.269407 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 14 # Segment length 100.957825 meters # Minimum depth: 1485.053772 meters looking forward 0.000000 meters along route # Maximum depth: 1485.053772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.053772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973273; longitude = -129.985456; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1447.446728; finalDepth = 1445.053772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1445.053772 # Seafloor depth:-1485.053772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.957825 meters # Minimum depth: 1487.446728 meters looking forward 0.000000 meters along route # Maximum depth: 1487.446728 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.446728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.973155; longitude = -129.986016; captureRadius = 10; duration = 100; initialDepth = 1444.249786; finalDepth = 1447.446728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1447.446728 # Seafloor depth:-1487.446728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1484.249786 meters looking forward 0.000000 meters along route # Maximum depth: 1484.249786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.249786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972883; longitude = -129.987305; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1442.235360; finalDepth = 1444.249786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1444.249786 # Seafloor depth:-1484.249786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1482.235360 meters looking forward 0.000000 meters along route # Maximum depth: 1482.235360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.235360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.972126; longitude = -129.987041; captureRadius = 10; duration = 100; initialDepth = 1446.808481; finalDepth = 1442.235360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1442.23536 # Seafloor depth:-1482.235360 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1486.808481 meters looking forward 0.000000 meters along route # Maximum depth: 1486.808481 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.808481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971220; longitude = -129.986726; captureRadius = 10; duration = 100; initialDepth = 1456.491480; finalDepth = 1446.808481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1446.808481 # Seafloor depth:-1486.808481 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1496.491480 meters looking forward 0.000000 meters along route # Maximum depth: 1496.491480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.491480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970326; longitude = -129.986414; captureRadius = 10; duration = 100; initialDepth = 1459.597019; finalDepth = 1456.491480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.49148 # Seafloor depth:-1496.491480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1499.597019 meters looking forward 0.000000 meters along route # Maximum depth: 1499.597019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.597019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969426; longitude = -129.986101; captureRadius = 10; duration = 100; initialDepth = 1463.604911; finalDepth = 1459.597019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.597019 # Seafloor depth:-1499.597019 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1503.604911 meters looking forward 0.000000 meters along route # Maximum depth: 1503.604911 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.604911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968527; longitude = -129.985787; captureRadius = 10; duration = 100; initialDepth = 1461.994800; finalDepth = 1463.604911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.604911 # Seafloor depth:-1503.604911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1501.994800 meters looking forward 0.000000 meters along route # Maximum depth: 1501.994800 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.994800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967627; longitude = -129.985474; captureRadius = 10; duration = 100; initialDepth = 1461.636065; finalDepth = 1461.994800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.9948 # Seafloor depth:-1501.994800 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1501.636065 meters looking forward 0.000000 meters along route # Maximum depth: 1501.636065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.636065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966727; longitude = -129.985160; captureRadius = 10; duration = 100; initialDepth = 1458.792018; finalDepth = 1461.636065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1461.636065 # Seafloor depth:-1501.636065 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1498.792018 meters looking forward 0.000000 meters along route # Maximum depth: 1498.792018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.792018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965850; longitude = -129.984855; captureRadius = 10; duration = 100; initialDepth = 1457.058464; finalDepth = 1458.792018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.792018 # Seafloor depth:-1498.792018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1497.058464 meters looking forward 0.000000 meters along route # Maximum depth: 1497.058464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.058464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964972; longitude = -129.984549; captureRadius = 10; duration = 100; initialDepth = 1462.299465; finalDepth = 1457.058464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1457.058464 # Seafloor depth:-1497.058464 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1502.299465 meters looking forward 0.000000 meters along route # Maximum depth: 1502.299465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.299465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964072; longitude = -129.984236; captureRadius = 10; duration = 100; initialDepth = 1465.536521; finalDepth = 1462.299465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.299465 # Seafloor depth:-1502.299465 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1505.536521 meters looking forward 0.000000 meters along route # Maximum depth: 1505.536521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.536521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963173; longitude = -129.983922; captureRadius = 10; duration = 100; initialDepth = 1468.716008; finalDepth = 1465.536521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.536521 # Seafloor depth:-1505.536521 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.716008 meters looking forward 0.000000 meters along route # Maximum depth: 1508.716008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.716008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962273; longitude = -129.983609; captureRadius = 10; duration = 100; initialDepth = 1469.456978; finalDepth = 1468.716008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.716008 # Seafloor depth:-1508.716008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1509.456978 meters looking forward 0.000000 meters along route # Maximum depth: 1509.456978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.456978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961373; longitude = -129.983295; captureRadius = 10; duration = 100; initialDepth = 1470.076577; finalDepth = 1469.456978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.456978 # Seafloor depth:-1509.456978 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1510.076577 meters looking forward 0.000000 meters along route # Maximum depth: 1510.076577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.076577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960473; longitude = -129.982982; captureRadius = 10; duration = 100; initialDepth = 1471.204495; finalDepth = 1470.076577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.076577 # Seafloor depth:-1510.076577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.204495 meters looking forward 0.000000 meters along route # Maximum depth: 1511.204495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.204495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959554; longitude = -129.982661; captureRadius = 10; duration = 100; initialDepth = 1474.425731; finalDepth = 1471.204495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.204495 # Seafloor depth:-1511.204495 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.425731 meters looking forward 0.000000 meters along route # Maximum depth: 1514.425731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.425731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958673; longitude = -129.982355; captureRadius = 10; duration = 100; initialDepth = 1477.994278; finalDepth = 1474.425731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.425731 # Seafloor depth:-1514.425731 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.994278 meters looking forward 0.000000 meters along route # Maximum depth: 1517.994278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.994278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957774; longitude = -129.982041; captureRadius = 10; duration = 100; initialDepth = 1477.778355; finalDepth = 1477.994278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.994278 # Seafloor depth:-1517.994278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.778355 meters looking forward 0.000000 meters along route # Maximum depth: 1517.778355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.778355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956874; longitude = -129.981728; captureRadius = 10; duration = 100; initialDepth = 1476.999846; finalDepth = 1477.778355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.778355 # Seafloor depth:-1517.778355 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.999846 meters looking forward 0.000000 meters along route # Maximum depth: 1516.999846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.999846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955974; longitude = -129.981414; captureRadius = 10; duration = 100; initialDepth = 1476.258552; finalDepth = 1476.999846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.999846 # Seafloor depth:-1516.999846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.258552 meters looking forward 0.000000 meters along route # Maximum depth: 1516.258552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.258552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955074; longitude = -129.981101; captureRadius = 10; duration = 100; initialDepth = 1475.577244; finalDepth = 1476.258552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.258552 # Seafloor depth:-1516.258552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.577244 meters looking forward 0.000000 meters along route # Maximum depth: 1515.577244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.577244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954174; longitude = -129.980787; captureRadius = 10; duration = 100; initialDepth = 1474.971015; finalDepth = 1475.577244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.577244 # Seafloor depth:-1515.577244 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.971015 meters looking forward 0.000000 meters along route # Maximum depth: 1514.971015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.971015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953258; longitude = -129.980468; captureRadius = 10; duration = 100; initialDepth = 1475.274835; finalDepth = 1474.971015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.971015 # Seafloor depth:-1514.971015 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.274835 meters looking forward 0.000000 meters along route # Maximum depth: 1515.274835 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.274835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952375; longitude = -129.980160; captureRadius = 10; duration = 100; initialDepth = 1475.375280; finalDepth = 1475.274835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.274835 # Seafloor depth:-1515.274835 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.375280 meters looking forward 0.000000 meters along route # Maximum depth: 1515.375280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.375280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951475; longitude = -129.979847; captureRadius = 10; duration = 100; initialDepth = 1477.420075; finalDepth = 1475.375280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.37528 # Seafloor depth:-1515.375280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.420075 meters looking forward 0.000000 meters along route # Maximum depth: 1517.420075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.420075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950575; longitude = -129.979533; captureRadius = 10; duration = 100; initialDepth = 1477.373672; finalDepth = 1477.420075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.420075 # Seafloor depth:-1517.420075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.373672 meters looking forward 0.000000 meters along route # Maximum depth: 1517.373672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.373672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949675; longitude = -129.979220; captureRadius = 10; duration = 100; initialDepth = 1477.960573; finalDepth = 1477.373672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.373672 # Seafloor depth:-1517.373672 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.960573 meters looking forward 0.000000 meters along route # Maximum depth: 1517.960573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.960573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948775; longitude = -129.978906; captureRadius = 10; duration = 100; initialDepth = 1480.454201; finalDepth = 1477.960573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.960573 # Seafloor depth:-1517.960573 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.454201 meters looking forward 0.000000 meters along route # Maximum depth: 1520.454201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.454201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947876; longitude = -129.978593; captureRadius = 10; duration = 100; initialDepth = 1479.908722; finalDepth = 1480.454201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.454201 # Seafloor depth:-1520.454201 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1519.908722 meters looking forward 0.000000 meters along route # Maximum depth: 1519.908722 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.908722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946972; longitude = -129.978278; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1479.095973; finalDepth = 1479.908722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.908722 # Seafloor depth:-1519.908722 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.095973 meters looking forward 0.000000 meters along route # Maximum depth: 1519.095973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.095973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946841; longitude = -129.978253; captureRadius = 10; duration = 100; initialDepth = 1477.781147; finalDepth = 1479.095973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.095973 # Seafloor depth:-1519.095973 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.781147 meters looking forward 0.000000 meters along route # Maximum depth: 1517.781147 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.781147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945941; longitude = -129.978078; captureRadius = 10; duration = 100; initialDepth = 1477.395096; finalDepth = 1477.781147; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.781147 # Seafloor depth:-1517.781147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.395096 meters looking forward 0.000000 meters along route # Maximum depth: 1517.395096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.395096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945041; longitude = -129.977904; captureRadius = 10; duration = 100; initialDepth = 1478.607259; finalDepth = 1477.395096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.395096 # Seafloor depth:-1517.395096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.607259 meters looking forward 0.000000 meters along route # Maximum depth: 1518.607259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.607259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944141; longitude = -129.977730; captureRadius = 10; duration = 100; initialDepth = 1478.889412; finalDepth = 1478.607259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.607259 # Seafloor depth:-1518.607259 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.889412 meters looking forward 0.000000 meters along route # Maximum depth: 1518.889412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.889412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943242; longitude = -129.977556; captureRadius = 10; duration = 100; initialDepth = 1478.132680; finalDepth = 1478.889412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.889412 # Seafloor depth:-1518.889412 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.132680 meters looking forward 0.000000 meters along route # Maximum depth: 1518.132680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.132680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942342; longitude = -129.977381; captureRadius = 10; duration = 100; initialDepth = 1479.135789; finalDepth = 1478.132680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.13268 # Seafloor depth:-1518.132680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.135789 meters looking forward 0.000000 meters along route # Maximum depth: 1519.135789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.135789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941442; longitude = -129.977207; captureRadius = 10; duration = 100; initialDepth = 1478.619211; finalDepth = 1479.135789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.135789 # Seafloor depth:-1519.135789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.619211 meters looking forward 0.000000 meters along route # Maximum depth: 1518.619211 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.619211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940542; longitude = -129.977033; captureRadius = 10; duration = 100; initialDepth = 1478.132080; finalDepth = 1478.619211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.619211 # Seafloor depth:-1518.619211 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.132080 meters looking forward 0.000000 meters along route # Maximum depth: 1518.132080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.132080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939642; longitude = -129.976859; captureRadius = 10; duration = 100; initialDepth = 1477.774195; finalDepth = 1478.132080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.13208 # Seafloor depth:-1518.132080 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.774195 meters looking forward 0.000000 meters along route # Maximum depth: 1517.774195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.774195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938742; longitude = -129.976685; captureRadius = 10; duration = 100; initialDepth = 1481.019345; finalDepth = 1477.774195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.774195 # Seafloor depth:-1517.774195 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.019345 meters looking forward 0.000000 meters along route # Maximum depth: 1521.019345 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.019345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937843; longitude = -129.976510; captureRadius = 10; duration = 100; initialDepth = 1482.265569; finalDepth = 1481.019345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.019345 # Seafloor depth:-1521.019345 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.265569 meters looking forward 0.000000 meters along route # Maximum depth: 1522.265569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.265569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936943; longitude = -129.976336; captureRadius = 10; duration = 100; initialDepth = 1482.632562; finalDepth = 1482.265569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.265569 # Seafloor depth:-1522.265569 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.632562 meters looking forward 0.000000 meters along route # Maximum depth: 1522.632562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.632562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936043; longitude = -129.976162; captureRadius = 10; duration = 100; initialDepth = 1482.632045; finalDepth = 1482.632562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.632562 # Seafloor depth:-1522.632562 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.632045 meters looking forward 0.000000 meters along route # Maximum depth: 1522.632045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.632045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935143; longitude = -129.975988; captureRadius = 10; duration = 100; initialDepth = 1483.616259; finalDepth = 1482.632045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.632045 # Seafloor depth:-1522.632045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.616259 meters looking forward 0.000000 meters along route # Maximum depth: 1523.616259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.616259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934243; longitude = -129.975813; captureRadius = 10; duration = 100; initialDepth = 1483.618615; finalDepth = 1483.616259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.616259 # Seafloor depth:-1523.616259 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.618615 meters looking forward 0.000000 meters along route # Maximum depth: 1523.618615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.618615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933343; longitude = -129.975639; captureRadius = 10; duration = 100; initialDepth = 1485.761578; finalDepth = 1483.618615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.618615 # Seafloor depth:-1523.618615 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.761578 meters looking forward 0.000000 meters along route # Maximum depth: 1525.761578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.761578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932444; longitude = -129.975465; captureRadius = 10; duration = 100; initialDepth = 1487.675117; finalDepth = 1485.761578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.761578 # Seafloor depth:-1525.761578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.675117 meters looking forward 0.000000 meters along route # Maximum depth: 1527.675117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.675117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931544; longitude = -129.975291; captureRadius = 10; duration = 100; initialDepth = 1486.829245; finalDepth = 1487.675117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.675117 # Seafloor depth:-1527.675117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.829245 meters looking forward 0.000000 meters along route # Maximum depth: 1526.829245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.829245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930644; longitude = -129.975117; captureRadius = 10; duration = 100; initialDepth = 1488.186678; finalDepth = 1486.829245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.829245 # Seafloor depth:-1526.829245 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.186678 meters looking forward 0.000000 meters along route # Maximum depth: 1528.186678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.186678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929744; longitude = -129.974942; captureRadius = 10; duration = 100; initialDepth = 1488.755798; finalDepth = 1488.186678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.186678 # Seafloor depth:-1528.186678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.755798 meters looking forward 0.000000 meters along route # Maximum depth: 1528.755798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.755798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928844; longitude = -129.974768; captureRadius = 10; duration = 100; initialDepth = 1489.298825; finalDepth = 1488.755798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.755798 # Seafloor depth:-1528.755798 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.298825 meters looking forward 0.000000 meters along route # Maximum depth: 1529.298825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.298825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927945; longitude = -129.974594; captureRadius = 10; duration = 100; initialDepth = 1491.192796; finalDepth = 1489.298825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.298825 # Seafloor depth:-1529.298825 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.192796 meters looking forward 0.000000 meters along route # Maximum depth: 1531.192796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.192796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927045; longitude = -129.974420; captureRadius = 10; duration = 100; initialDepth = 1495.277971; finalDepth = 1491.192796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.192796 # Seafloor depth:-1531.192796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.277971 meters looking forward 0.000000 meters along route # Maximum depth: 1535.277971 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.277971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926145; longitude = -129.974245; captureRadius = 10; duration = 100; initialDepth = 1495.306604; finalDepth = 1495.277971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.277971 # Seafloor depth:-1535.277971 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.306604 meters looking forward 0.000000 meters along route # Maximum depth: 1535.306604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.306604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925245; longitude = -129.974071; captureRadius = 10; duration = 100; initialDepth = 1495.534436; finalDepth = 1495.306604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.306604 # Seafloor depth:-1535.306604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.534436 meters looking forward 0.000000 meters along route # Maximum depth: 1535.534436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.534436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924345; longitude = -129.973897; captureRadius = 10; duration = 100; initialDepth = 1496.280847; finalDepth = 1495.534436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.534436 # Seafloor depth:-1535.534436 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.280847 meters looking forward 0.000000 meters along route # Maximum depth: 1536.280847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.280847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923445; longitude = -129.973723; captureRadius = 10; duration = 100; initialDepth = 1498.291029; finalDepth = 1496.280847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.280847 # Seafloor depth:-1536.280847 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.291029 meters looking forward 0.000000 meters along route # Maximum depth: 1538.291029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.291029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922546; longitude = -129.973549; captureRadius = 10; duration = 100; initialDepth = 1501.020017; finalDepth = 1498.291029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.291029 # Seafloor depth:-1538.291029 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1541.020017 meters looking forward 0.000000 meters along route # Maximum depth: 1541.020017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.020017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921646; longitude = -129.973374; captureRadius = 10; duration = 100; initialDepth = 1504.650117; finalDepth = 1501.020017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.020017 # Seafloor depth:-1541.020017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.650117 meters looking forward 0.000000 meters along route # Maximum depth: 1544.650117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.650117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920746; longitude = -129.973200; captureRadius = 10; duration = 100; initialDepth = 1503.577596; finalDepth = 1504.650117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.650117 # Seafloor depth:-1544.650117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1543.577596 meters looking forward 0.000000 meters along route # Maximum depth: 1543.577596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.577596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919846; longitude = -129.973026; captureRadius = 10; duration = 100; initialDepth = 1507.556837; finalDepth = 1503.577596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.577596 # Seafloor depth:-1543.577596 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1547.556837 meters looking forward 0.000000 meters along route # Maximum depth: 1547.556837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.556837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918946; longitude = -129.972852; captureRadius = 10; duration = 100; initialDepth = 1509.175516; finalDepth = 1507.556837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1507.556837 # Seafloor depth:-1547.556837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1549.175516 meters looking forward 0.000000 meters along route # Maximum depth: 1549.175516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.175516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918046; longitude = -129.972677; captureRadius = 10; duration = 100; initialDepth = 1513.311493; finalDepth = 1509.175516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.175516 # Seafloor depth:-1549.175516 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1553.311493 meters looking forward 0.000000 meters along route # Maximum depth: 1553.311493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.311493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917147; longitude = -129.972503; captureRadius = 10; duration = 100; initialDepth = 1519.382153; finalDepth = 1513.311493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1513.311493 # Seafloor depth:-1553.311493 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.382153 meters looking forward 0.000000 meters along route # Maximum depth: 1559.382153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.382153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916247; longitude = -129.972329; captureRadius = 10; duration = 100; initialDepth = 1519.131741; finalDepth = 1519.382153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.382153 # Seafloor depth:-1559.382153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.131741 meters looking forward 0.000000 meters along route # Maximum depth: 1559.131741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.131741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915347; longitude = -129.972155; captureRadius = 10; duration = 100; initialDepth = 1521.792228; finalDepth = 1519.131741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.131741 # Seafloor depth:-1559.131741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1561.792228 meters looking forward 0.000000 meters along route # Maximum depth: 1561.792228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.792228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914447; longitude = -129.971981; captureRadius = 10; duration = 100; initialDepth = 1523.121770; finalDepth = 1521.792228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1521.792228 # Seafloor depth:-1561.792228 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1563.121770 meters looking forward 0.000000 meters along route # Maximum depth: 1563.121770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.121770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913547; longitude = -129.971806; captureRadius = 10; duration = 100; initialDepth = 1522.278368; finalDepth = 1523.121770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.12177 # Seafloor depth:-1563.121770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1562.278368 meters looking forward 0.000000 meters along route # Maximum depth: 1562.278368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.278368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912648; longitude = -129.971632; captureRadius = 10; duration = 100; initialDepth = 1522.529360; finalDepth = 1522.278368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.278368 # Seafloor depth:-1562.278368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1562.529360 meters looking forward 0.000000 meters along route # Maximum depth: 1562.529360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.529360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911748; longitude = -129.971458; captureRadius = 10; duration = 100; initialDepth = 1524.215944; finalDepth = 1522.529360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.52936 # Seafloor depth:-1562.529360 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1564.215944 meters looking forward 0.000000 meters along route # Maximum depth: 1564.215944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.215944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910848; longitude = -129.971284; captureRadius = 10; duration = 100; initialDepth = 1524.918522; finalDepth = 1524.215944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.215944 # Seafloor depth:-1564.215944 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1564.918522 meters looking forward 0.000000 meters along route # Maximum depth: 1564.918522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.918522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909948; longitude = -129.971109; captureRadius = 10; duration = 100; initialDepth = 1526.803686; finalDepth = 1524.918522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.918522 # Seafloor depth:-1564.918522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1566.803686 meters looking forward 0.000000 meters along route # Maximum depth: 1566.803686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.803686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909048; longitude = -129.970935; captureRadius = 10; duration = 100; initialDepth = 1531.447507; finalDepth = 1526.803686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1526.803686 # Seafloor depth:-1566.803686 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1571.447507 meters looking forward 0.000000 meters along route # Maximum depth: 1571.447507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.447507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908148; longitude = -129.970761; captureRadius = 10; duration = 100; initialDepth = 1535.389612; finalDepth = 1531.447507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.447507 # Seafloor depth:-1571.447507 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1575.389612 meters looking forward 0.000000 meters along route # Maximum depth: 1575.389612 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.389612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907249; longitude = -129.970587; captureRadius = 10; duration = 100; initialDepth = 1538.475281; finalDepth = 1535.389612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1535.389612 # Seafloor depth:-1575.389612 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 11 # Segment length 100.957825 meters # Minimum depth: 1578.475281 meters looking forward 0.000000 meters along route # Maximum depth: 1578.475281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.475281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906351; longitude = -129.970413; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1535.610588; finalDepth = 1538.475281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1538.475281 # Seafloor depth:-1578.475281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1575.610588 meters looking forward 0.000000 meters along route # Maximum depth: 1575.610588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.610588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906292; longitude = -129.971050; captureRadius = 10; duration = 100; initialDepth = 1531.045868; finalDepth = 1535.610588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1535.610588 # Seafloor depth:-1575.610588 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1571.045868 meters looking forward 0.000000 meters along route # Maximum depth: 1571.045868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.045868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906172; longitude = -129.972330; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1527.254636; finalDepth = 1531.045868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1531.045868 # Seafloor depth:-1571.045868 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1567.254636 meters looking forward 0.000000 meters along route # Maximum depth: 1567.254636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.254636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907069; longitude = -129.972503; captureRadius = 10; duration = 100; initialDepth = 1523.827677; finalDepth = 1527.254636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1527.254636 # Seafloor depth:-1567.254636 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1563.827677 meters looking forward 0.000000 meters along route # Maximum depth: 1563.827677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.827677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907968; longitude = -129.972678; captureRadius = 10; duration = 100; initialDepth = 1522.450343; finalDepth = 1523.827677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1523.827677 # Seafloor depth:-1563.827677 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1562.450343 meters looking forward 0.000000 meters along route # Maximum depth: 1562.450343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.450343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908868; longitude = -129.972852; captureRadius = 10; duration = 100; initialDepth = 1519.563714; finalDepth = 1522.450343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.450343 # Seafloor depth:-1562.450343 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.563714 meters looking forward 0.000000 meters along route # Maximum depth: 1559.563714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.563714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909768; longitude = -129.973026; captureRadius = 10; duration = 100; initialDepth = 1518.416569; finalDepth = 1519.563714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.563714 # Seafloor depth:-1559.563714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1558.416569 meters looking forward 0.000000 meters along route # Maximum depth: 1558.416569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.416569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910668; longitude = -129.973200; captureRadius = 10; duration = 100; initialDepth = 1517.580433; finalDepth = 1518.416569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1518.416569 # Seafloor depth:-1558.416569 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1557.580433 meters looking forward 0.000000 meters along route # Maximum depth: 1557.580433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.580433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911568; longitude = -129.973374; captureRadius = 10; duration = 100; initialDepth = 1517.698326; finalDepth = 1517.580433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.580433 # Seafloor depth:-1557.580433 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1557.698326 meters looking forward 0.000000 meters along route # Maximum depth: 1557.698326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.698326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912468; longitude = -129.973548; captureRadius = 10; duration = 100; initialDepth = 1516.473707; finalDepth = 1517.698326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.698326 # Seafloor depth:-1557.698326 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1556.473707 meters looking forward 0.000000 meters along route # Maximum depth: 1556.473707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.473707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913367; longitude = -129.973722; captureRadius = 10; duration = 100; initialDepth = 1514.084738; finalDepth = 1516.473707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1516.473707 # Seafloor depth:-1556.473707 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1554.084738 meters looking forward 0.000000 meters along route # Maximum depth: 1554.084738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.084738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914267; longitude = -129.973896; captureRadius = 10; duration = 100; initialDepth = 1512.896264; finalDepth = 1514.084738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1514.084738 # Seafloor depth:-1554.084738 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1552.896264 meters looking forward 0.000000 meters along route # Maximum depth: 1552.896264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.896264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915167; longitude = -129.974070; captureRadius = 10; duration = 100; initialDepth = 1511.921179; finalDepth = 1512.896264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.896264 # Seafloor depth:-1552.896264 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1551.921179 meters looking forward 0.000000 meters along route # Maximum depth: 1551.921179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.921179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916067; longitude = -129.974245; captureRadius = 10; duration = 100; initialDepth = 1509.258272; finalDepth = 1511.921179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.921179 # Seafloor depth:-1551.921179 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1549.258272 meters looking forward 0.000000 meters along route # Maximum depth: 1549.258272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.258272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916967; longitude = -129.974419; captureRadius = 10; duration = 100; initialDepth = 1506.336202; finalDepth = 1509.258272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.258272 # Seafloor depth:-1549.258272 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1546.336202 meters looking forward 0.000000 meters along route # Maximum depth: 1546.336202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.336202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917867; longitude = -129.974593; captureRadius = 10; duration = 100; initialDepth = 1503.029059; finalDepth = 1506.336202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.336202 # Seafloor depth:-1546.336202 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1543.029059 meters looking forward 0.000000 meters along route # Maximum depth: 1543.029059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.029059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918766; longitude = -129.974767; captureRadius = 10; duration = 100; initialDepth = 1500.263635; finalDepth = 1503.029059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1503.029059 # Seafloor depth:-1543.029059 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.263635 meters looking forward 0.000000 meters along route # Maximum depth: 1540.263635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.263635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919666; longitude = -129.974941; captureRadius = 10; duration = 100; initialDepth = 1499.426263; finalDepth = 1500.263635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.263635 # Seafloor depth:-1540.263635 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.426263 meters looking forward 0.000000 meters along route # Maximum depth: 1539.426263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.426263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920566; longitude = -129.975115; captureRadius = 10; duration = 100; initialDepth = 1497.342720; finalDepth = 1499.426263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.426263 # Seafloor depth:-1539.426263 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.342720 meters looking forward 0.000000 meters along route # Maximum depth: 1537.342720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.342720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921466; longitude = -129.975289; captureRadius = 10; duration = 100; initialDepth = 1492.745503; finalDepth = 1497.342720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.34272 # Seafloor depth:-1537.342720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.745503 meters looking forward 0.000000 meters along route # Maximum depth: 1532.745503 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.745503 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922366; longitude = -129.975463; captureRadius = 10; duration = 100; initialDepth = 1492.440765; finalDepth = 1492.745503; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.745503 # Seafloor depth:-1532.745503 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.440765 meters looking forward 0.000000 meters along route # Maximum depth: 1532.440765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.440765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923265; longitude = -129.975637; captureRadius = 10; duration = 100; initialDepth = 1491.763241; finalDepth = 1492.440765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.440765 # Seafloor depth:-1532.440765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.763241 meters looking forward 0.000000 meters along route # Maximum depth: 1531.763241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.763241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924165; longitude = -129.975811; captureRadius = 10; duration = 100; initialDepth = 1493.412151; finalDepth = 1491.763241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.763241 # Seafloor depth:-1531.763241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.412151 meters looking forward 0.000000 meters along route # Maximum depth: 1533.412151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.412151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925065; longitude = -129.975986; captureRadius = 10; duration = 100; initialDepth = 1492.283057; finalDepth = 1493.412151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.412151 # Seafloor depth:-1533.412151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.283057 meters looking forward 0.000000 meters along route # Maximum depth: 1532.283057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.283057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925965; longitude = -129.976160; captureRadius = 10; duration = 100; initialDepth = 1491.964979; finalDepth = 1492.283057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.283057 # Seafloor depth:-1532.283057 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.964979 meters looking forward 0.000000 meters along route # Maximum depth: 1531.964979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.964979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926865; longitude = -129.976334; captureRadius = 10; duration = 100; initialDepth = 1488.465994; finalDepth = 1491.964979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.964979 # Seafloor depth:-1531.964979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.465994 meters looking forward 0.000000 meters along route # Maximum depth: 1528.465994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.465994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927765; longitude = -129.976508; captureRadius = 10; duration = 100; initialDepth = 1489.003153; finalDepth = 1488.465994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.465994 # Seafloor depth:-1528.465994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.003153 meters looking forward 0.000000 meters along route # Maximum depth: 1529.003153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.003153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928664; longitude = -129.976682; captureRadius = 10; duration = 100; initialDepth = 1486.741431; finalDepth = 1489.003153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.003153 # Seafloor depth:-1529.003153 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.741431 meters looking forward 0.000000 meters along route # Maximum depth: 1526.741431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.741431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929564; longitude = -129.976856; captureRadius = 10; duration = 100; initialDepth = 1484.672140; finalDepth = 1486.741431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.741431 # Seafloor depth:-1526.741431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.672140 meters looking forward 0.000000 meters along route # Maximum depth: 1524.672140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.672140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930464; longitude = -129.977030; captureRadius = 10; duration = 100; initialDepth = 1483.218558; finalDepth = 1484.672140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.67214 # Seafloor depth:-1524.672140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.218558 meters looking forward 0.000000 meters along route # Maximum depth: 1523.218558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.218558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931364; longitude = -129.977204; captureRadius = 10; duration = 100; initialDepth = 1482.388203; finalDepth = 1483.218558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.218558 # Seafloor depth:-1523.218558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.388203 meters looking forward 0.000000 meters along route # Maximum depth: 1522.388203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.388203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932264; longitude = -129.977378; captureRadius = 10; duration = 100; initialDepth = 1481.516302; finalDepth = 1482.388203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.388203 # Seafloor depth:-1522.388203 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.516302 meters looking forward 0.000000 meters along route # Maximum depth: 1521.516302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.516302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933164; longitude = -129.977552; captureRadius = 10; duration = 100; initialDepth = 1482.041698; finalDepth = 1481.516302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.516302 # Seafloor depth:-1521.516302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.041698 meters looking forward 0.000000 meters along route # Maximum depth: 1522.041698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.041698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934063; longitude = -129.977727; captureRadius = 10; duration = 100; initialDepth = 1482.686538; finalDepth = 1482.041698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.041698 # Seafloor depth:-1522.041698 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.686538 meters looking forward 0.000000 meters along route # Maximum depth: 1522.686538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.686538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934963; longitude = -129.977901; captureRadius = 10; duration = 100; initialDepth = 1480.803304; finalDepth = 1482.686538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.686538 # Seafloor depth:-1522.686538 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.803304 meters looking forward 0.000000 meters along route # Maximum depth: 1520.803304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.803304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935863; longitude = -129.978075; captureRadius = 10; duration = 100; initialDepth = 1480.291204; finalDepth = 1480.803304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.803304 # Seafloor depth:-1520.803304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.291204 meters looking forward 0.000000 meters along route # Maximum depth: 1520.291204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.291204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936763; longitude = -129.978249; captureRadius = 10; duration = 100; initialDepth = 1479.690767; finalDepth = 1480.291204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.291204 # Seafloor depth:-1520.291204 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.690767 meters looking forward 0.000000 meters along route # Maximum depth: 1519.690767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.690767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937663; longitude = -129.978423; captureRadius = 10; duration = 100; initialDepth = 1479.249388; finalDepth = 1479.690767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.690767 # Seafloor depth:-1519.690767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.249388 meters looking forward 0.000000 meters along route # Maximum depth: 1519.249388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.249388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938564; longitude = -129.978597; captureRadius = 10; duration = 100; initialDepth = 1479.374796; finalDepth = 1479.249388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.249388 # Seafloor depth:-1519.249388 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.374796 meters looking forward 0.000000 meters along route # Maximum depth: 1519.374796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.374796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939462; longitude = -129.978771; captureRadius = 10; duration = 100; initialDepth = 1477.333002; finalDepth = 1479.374796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.374796 # Seafloor depth:-1519.374796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.333002 meters looking forward 0.000000 meters along route # Maximum depth: 1517.333002 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.333002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940362; longitude = -129.978945; captureRadius = 10; duration = 100; initialDepth = 1471.316772; finalDepth = 1477.333002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.333002 # Seafloor depth:-1517.333002 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.316772 meters looking forward 0.000000 meters along route # Maximum depth: 1511.316772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.316772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941262; longitude = -129.979119; captureRadius = 10; duration = 100; initialDepth = 1472.092633; finalDepth = 1471.316772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.316772 # Seafloor depth:-1511.316772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.092633 meters looking forward 0.000000 meters along route # Maximum depth: 1512.092633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.092633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942162; longitude = -129.979293; captureRadius = 10; duration = 100; initialDepth = 1472.178996; finalDepth = 1472.092633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.092633 # Seafloor depth:-1512.092633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.178996 meters looking forward 0.000000 meters along route # Maximum depth: 1512.178996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.178996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943062; longitude = -129.979468; captureRadius = 10; duration = 100; initialDepth = 1473.417907; finalDepth = 1472.178996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.178996 # Seafloor depth:-1512.178996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.417907 meters looking forward 0.000000 meters along route # Maximum depth: 1513.417907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.417907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943961; longitude = -129.979642; captureRadius = 10; duration = 100; initialDepth = 1479.956508; finalDepth = 1473.417907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.417907 # Seafloor depth:-1513.417907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.956508 meters looking forward 0.000000 meters along route # Maximum depth: 1519.956508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.956508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944861; longitude = -129.979816; captureRadius = 10; duration = 100; initialDepth = 1480.898745; finalDepth = 1479.956508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.956508 # Seafloor depth:-1519.956508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1520.898745 meters looking forward 0.000000 meters along route # Maximum depth: 1520.898745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.898745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945761; longitude = -129.979990; captureRadius = 10; duration = 100; initialDepth = 1480.093567; finalDepth = 1480.898745; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.898745 # Seafloor depth:-1520.898745 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1520.093567 meters looking forward 0.000000 meters along route # Maximum depth: 1520.093567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.093567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946687; longitude = -129.980169; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1479.942308; finalDepth = 1480.093567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1480.093567 # Seafloor depth:-1520.093567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.942308 meters looking forward 0.000000 meters along route # Maximum depth: 1519.942308 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.942308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946751; longitude = -129.980191; captureRadius = 10; duration = 100; initialDepth = 1477.392277; finalDepth = 1479.942308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.942308 # Seafloor depth:-1519.942308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.392277 meters looking forward 0.000000 meters along route # Maximum depth: 1517.392277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.392277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947651; longitude = -129.980501; captureRadius = 10; duration = 100; initialDepth = 1476.929957; finalDepth = 1477.392277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.392277 # Seafloor depth:-1517.392277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.929957 meters looking forward 0.000000 meters along route # Maximum depth: 1516.929957 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.929957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948550; longitude = -129.980811; captureRadius = 10; duration = 100; initialDepth = 1477.328692; finalDepth = 1476.929957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.929957 # Seafloor depth:-1516.929957 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.328692 meters looking forward 0.000000 meters along route # Maximum depth: 1517.328692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.328692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949428; longitude = -129.981113; captureRadius = 10; duration = 100; initialDepth = 1476.651979; finalDepth = 1477.328692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.328692 # Seafloor depth:-1517.328692 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.651979 meters looking forward 0.000000 meters along route # Maximum depth: 1516.651979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.651979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950305; longitude = -129.981415; captureRadius = 10; duration = 100; initialDepth = 1476.785033; finalDepth = 1476.651979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.651979 # Seafloor depth:-1516.651979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.785033 meters looking forward 0.000000 meters along route # Maximum depth: 1516.785033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.785033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951205; longitude = -129.981725; captureRadius = 10; duration = 100; initialDepth = 1477.203765; finalDepth = 1476.785033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.785033 # Seafloor depth:-1516.785033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.203765 meters looking forward 0.000000 meters along route # Maximum depth: 1517.203765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.203765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952105; longitude = -129.982035; captureRadius = 10; duration = 100; initialDepth = 1474.670894; finalDepth = 1477.203765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.203765 # Seafloor depth:-1517.203765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.670894 meters looking forward 0.000000 meters along route # Maximum depth: 1514.670894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.670894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953005; longitude = -129.982345; captureRadius = 10; duration = 100; initialDepth = 1473.844209; finalDepth = 1474.670894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.670894 # Seafloor depth:-1514.670894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.844209 meters looking forward 0.000000 meters along route # Maximum depth: 1513.844209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.844209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953923; longitude = -129.982661; captureRadius = 10; duration = 100; initialDepth = 1474.440604; finalDepth = 1473.844209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.844209 # Seafloor depth:-1513.844209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.440604 meters looking forward 0.000000 meters along route # Maximum depth: 1514.440604 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.440604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954804; longitude = -129.982965; captureRadius = 10; duration = 100; initialDepth = 1468.856994; finalDepth = 1474.440604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.440604 # Seafloor depth:-1514.440604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.856994 meters looking forward 0.000000 meters along route # Maximum depth: 1508.856994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.856994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955704; longitude = -129.983275; captureRadius = 10; duration = 100; initialDepth = 1464.299663; finalDepth = 1468.856994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.856994 # Seafloor depth:-1508.856994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1504.299663 meters looking forward 0.000000 meters along route # Maximum depth: 1504.299663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.299663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956604; longitude = -129.983585; captureRadius = 10; duration = 100; initialDepth = 1468.012023; finalDepth = 1464.299663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.299663 # Seafloor depth:-1504.299663 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.012023 meters looking forward 0.000000 meters along route # Maximum depth: 1508.012023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.012023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957504; longitude = -129.983895; captureRadius = 10; duration = 100; initialDepth = 1468.356187; finalDepth = 1468.012023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.012023 # Seafloor depth:-1508.012023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.356187 meters looking forward 0.000000 meters along route # Maximum depth: 1508.356187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.356187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958417; longitude = -129.984210; captureRadius = 10; duration = 100; initialDepth = 1468.112009; finalDepth = 1468.356187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.356187 # Seafloor depth:-1508.356187 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.112009 meters looking forward 0.000000 meters along route # Maximum depth: 1508.112009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.112009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959303; longitude = -129.984515; captureRadius = 10; duration = 100; initialDepth = 1467.395087; finalDepth = 1468.112009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.112009 # Seafloor depth:-1508.112009 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1507.395087 meters looking forward 0.000000 meters along route # Maximum depth: 1507.395087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.395087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960203; longitude = -129.984825; captureRadius = 10; duration = 100; initialDepth = 1466.434434; finalDepth = 1467.395087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.395087 # Seafloor depth:-1507.395087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1506.434434 meters looking forward 0.000000 meters along route # Maximum depth: 1506.434434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.434434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961103; longitude = -129.985135; captureRadius = 10; duration = 100; initialDepth = 1464.241062; finalDepth = 1466.434434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.434434 # Seafloor depth:-1506.434434 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1504.241062 meters looking forward 0.000000 meters along route # Maximum depth: 1504.241062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.241062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962003; longitude = -129.985445; captureRadius = 10; duration = 100; initialDepth = 1462.587335; finalDepth = 1464.241062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.241062 # Seafloor depth:-1504.241062 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1502.587335 meters looking forward 0.000000 meters along route # Maximum depth: 1502.587335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.587335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962912; longitude = -129.985758; captureRadius = 10; duration = 100; initialDepth = 1459.664325; finalDepth = 1462.587335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1462.587335 # Seafloor depth:-1502.587335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1499.664325 meters looking forward 0.000000 meters along route # Maximum depth: 1499.664325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.664325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963802; longitude = -129.986065; captureRadius = 10; duration = 100; initialDepth = 1456.998558; finalDepth = 1459.664325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1459.664325 # Seafloor depth:-1499.664325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1496.998558 meters looking forward 0.000000 meters along route # Maximum depth: 1496.998558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.998558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964702; longitude = -129.986375; captureRadius = 10; duration = 100; initialDepth = 1458.353893; finalDepth = 1456.998558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1456.998558 # Seafloor depth:-1496.998558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1498.353893 meters looking forward 0.000000 meters along route # Maximum depth: 1498.353893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.353893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965602; longitude = -129.986685; captureRadius = 10; duration = 100; initialDepth = 1458.848849; finalDepth = 1458.353893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.353893 # Seafloor depth:-1498.353893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1498.848849 meters looking forward 0.000000 meters along route # Maximum depth: 1498.848849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.848849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966502; longitude = -129.986995; captureRadius = 10; duration = 100; initialDepth = 1455.318920; finalDepth = 1458.848849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1458.848849 # Seafloor depth:-1498.848849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1495.318920 meters looking forward 0.000000 meters along route # Maximum depth: 1495.318920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.318920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967406; longitude = -129.987306; captureRadius = 10; duration = 100; initialDepth = 1457.863557; finalDepth = 1455.318920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.31892 # Seafloor depth:-1495.318920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1497.863557 meters looking forward 0.000000 meters along route # Maximum depth: 1497.863557 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.863557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968302; longitude = -129.987615; captureRadius = 10; duration = 100; initialDepth = 1454.616558; finalDepth = 1457.863557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1457.863557 # Seafloor depth:-1497.863557 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1494.616558 meters looking forward 0.000000 meters along route # Maximum depth: 1494.616558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1454.616558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969201; longitude = -129.987924; captureRadius = 10; duration = 100; initialDepth = 1449.841018; finalDepth = 1454.616558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1454.616558 # Seafloor depth:-1494.616558 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1489.841018 meters looking forward 0.000000 meters along route # Maximum depth: 1489.841018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.841018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970101; longitude = -129.988234; captureRadius = 10; duration = 100; initialDepth = 1440.277277; finalDepth = 1449.841018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.841018 # Seafloor depth:-1489.841018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1480.277277 meters looking forward 0.000000 meters along route # Maximum depth: 1480.277277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.277277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971001; longitude = -129.988544; captureRadius = 10; duration = 100; initialDepth = 1438.200775; finalDepth = 1440.277277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1440.277277 # Seafloor depth:-1480.277277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 8 # Segment length 100.957825 meters # Minimum depth: 1478.200775 meters looking forward 0.000000 meters along route # Maximum depth: 1478.200775 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.200775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971894; longitude = -129.988852; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1439.047392; finalDepth = 1438.200775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1438.200775 # Seafloor depth:-1478.200775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1479.047392 meters looking forward 0.000000 meters along route # Maximum depth: 1479.047392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.047392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971792; longitude = -129.989435; captureRadius = 10; duration = 100; initialDepth = 1439.777618; finalDepth = 1439.047392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1439.047392 # Seafloor depth:-1479.047392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1479.777618 meters looking forward 0.000000 meters along route # Maximum depth: 1479.777618 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.777618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971564; longitude = -129.990744; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1441.310870; finalDepth = 1439.777618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1439.777618 # Seafloor depth:-1479.777618 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1481.310870 meters looking forward 0.000000 meters along route # Maximum depth: 1481.310870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1441.310870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.971496; longitude = -129.990720; captureRadius = 10; duration = 100; initialDepth = 1439.077741; finalDepth = 1441.310870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1441.31087 # Seafloor depth:-1481.310870 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1479.077741 meters looking forward 0.000000 meters along route # Maximum depth: 1479.077741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.077741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.970586; longitude = -129.990403; captureRadius = 10; duration = 100; initialDepth = 1448.828275; finalDepth = 1439.077741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1439.077741 # Seafloor depth:-1479.077741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1488.828275 meters looking forward 0.000000 meters along route # Maximum depth: 1488.828275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.828275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.969696; longitude = -129.990092; captureRadius = 10; duration = 100; initialDepth = 1449.011056; finalDepth = 1448.828275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1448.828275 # Seafloor depth:-1488.828275 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1489.011056 meters looking forward 0.000000 meters along route # Maximum depth: 1489.011056 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.011056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.968796; longitude = -129.989778; captureRadius = 10; duration = 100; initialDepth = 1451.522556; finalDepth = 1449.011056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.011056 # Seafloor depth:-1489.011056 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1491.522556 meters looking forward 0.000000 meters along route # Maximum depth: 1491.522556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.522556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.967897; longitude = -129.989463; captureRadius = 10; duration = 100; initialDepth = 1452.167267; finalDepth = 1451.522556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.522556 # Seafloor depth:-1491.522556 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1492.167267 meters looking forward 0.000000 meters along route # Maximum depth: 1492.167267 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.167267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966997; longitude = -129.989149; captureRadius = 10; duration = 100; initialDepth = 1455.414383; finalDepth = 1452.167267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1452.167267 # Seafloor depth:-1492.167267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1495.414383 meters looking forward 0.000000 meters along route # Maximum depth: 1495.414383 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.414383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.966097; longitude = -129.988835; captureRadius = 10; duration = 100; initialDepth = 1455.027459; finalDepth = 1455.414383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.414383 # Seafloor depth:-1495.414383 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1495.027459 meters looking forward 0.000000 meters along route # Maximum depth: 1495.027459 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1455.027459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.965197; longitude = -129.988521; captureRadius = 10; duration = 100; initialDepth = 1450.577961; finalDepth = 1455.027459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1455.027459 # Seafloor depth:-1495.027459 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1490.577961 meters looking forward 0.000000 meters along route # Maximum depth: 1490.577961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1450.577961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.964297; longitude = -129.988207; captureRadius = 10; duration = 100; initialDepth = 1439.929898; finalDepth = 1450.577961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1450.577961 # Seafloor depth:-1490.577961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1479.929898 meters looking forward 0.000000 meters along route # Maximum depth: 1479.929898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.929898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.963381; longitude = -129.987887; captureRadius = 10; duration = 100; initialDepth = 1438.060643; finalDepth = 1439.929898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1439.929898 # Seafloor depth:-1479.929898 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1478.060643 meters looking forward 0.000000 meters along route # Maximum depth: 1478.060643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.060643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962498; longitude = -129.987578; captureRadius = 10; duration = 100; initialDepth = 1451.730497; finalDepth = 1438.060643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1438.060643 # Seafloor depth:-1478.060643 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1491.730497 meters looking forward 0.000000 meters along route # Maximum depth: 1491.730497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.730497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961598; longitude = -129.987264; captureRadius = 10; duration = 100; initialDepth = 1449.345038; finalDepth = 1451.730497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1451.730497 # Seafloor depth:-1491.730497 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1489.345038 meters looking forward 0.000000 meters along route # Maximum depth: 1489.345038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.345038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960698; longitude = -129.986950; captureRadius = 10; duration = 100; initialDepth = 1464.901678; finalDepth = 1449.345038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1449.345038 # Seafloor depth:-1489.345038 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1504.901678 meters looking forward 0.000000 meters along route # Maximum depth: 1504.901678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.901678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959798; longitude = -129.986636; captureRadius = 10; duration = 100; initialDepth = 1465.860115; finalDepth = 1464.901678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1464.901678 # Seafloor depth:-1504.901678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1505.860115 meters looking forward 0.000000 meters along route # Maximum depth: 1505.860115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.860115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958898; longitude = -129.986322; captureRadius = 10; duration = 100; initialDepth = 1466.680646; finalDepth = 1465.860115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1465.860115 # Seafloor depth:-1505.860115 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1506.680646 meters looking forward 0.000000 meters along route # Maximum depth: 1506.680646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.680646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958023; longitude = -129.986016; captureRadius = 10; duration = 100; initialDepth = 1466.448070; finalDepth = 1466.680646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.680646 # Seafloor depth:-1506.680646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1506.448070 meters looking forward 0.000000 meters along route # Maximum depth: 1506.448070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.448070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957144; longitude = -129.985709; captureRadius = 10; duration = 100; initialDepth = 1468.305921; finalDepth = 1466.448070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1466.44807 # Seafloor depth:-1506.448070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.305921 meters looking forward 0.000000 meters along route # Maximum depth: 1508.305921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.305921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956244; longitude = -129.985395; captureRadius = 10; duration = 100; initialDepth = 1467.619077; finalDepth = 1468.305921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.305921 # Seafloor depth:-1508.305921 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1507.619077 meters looking forward 0.000000 meters along route # Maximum depth: 1507.619077 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.619077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955344; longitude = -129.985081; captureRadius = 10; duration = 100; initialDepth = 1463.716508; finalDepth = 1467.619077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1467.619077 # Seafloor depth:-1507.619077 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1503.716508 meters looking forward 0.000000 meters along route # Maximum depth: 1503.716508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.716508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954444; longitude = -129.984766; captureRadius = 10; duration = 100; initialDepth = 1468.281979; finalDepth = 1463.716508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1463.716508 # Seafloor depth:-1503.716508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.281979 meters looking forward 0.000000 meters along route # Maximum depth: 1508.281979 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.281979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953544; longitude = -129.984452; captureRadius = 10; duration = 100; initialDepth = 1469.885088; finalDepth = 1468.281979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.281979 # Seafloor depth:-1508.281979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1509.885088 meters looking forward 0.000000 meters along route # Maximum depth: 1509.885088 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.885088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952665; longitude = -129.984145; captureRadius = 10; duration = 100; initialDepth = 1468.965003; finalDepth = 1469.885088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.885088 # Seafloor depth:-1509.885088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1508.965003 meters looking forward 0.000000 meters along route # Maximum depth: 1508.965003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.965003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951790; longitude = -129.983839; captureRadius = 10; duration = 100; initialDepth = 1470.009966; finalDepth = 1468.965003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1468.965003 # Seafloor depth:-1508.965003 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1510.009966 meters looking forward 0.000000 meters along route # Maximum depth: 1510.009966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.009966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950890; longitude = -129.983525; captureRadius = 10; duration = 100; initialDepth = 1476.204633; finalDepth = 1470.009966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1470.009966 # Seafloor depth:-1510.009966 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.204633 meters looking forward 0.000000 meters along route # Maximum depth: 1516.204633 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.204633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949990; longitude = -129.983211; captureRadius = 10; duration = 100; initialDepth = 1472.063325; finalDepth = 1476.204633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.204633 # Seafloor depth:-1516.204633 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.063325 meters looking forward 0.000000 meters along route # Maximum depth: 1512.063325 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.063325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949090; longitude = -129.982897; captureRadius = 10; duration = 100; initialDepth = 1473.316348; finalDepth = 1472.063325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.063325 # Seafloor depth:-1512.063325 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.316348 meters looking forward 0.000000 meters along route # Maximum depth: 1513.316348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.316348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948191; longitude = -129.982583; captureRadius = 10; duration = 100; initialDepth = 1473.072423; finalDepth = 1473.316348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.316348 # Seafloor depth:-1513.316348 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.072423 meters looking forward 0.000000 meters along route # Maximum depth: 1513.072423 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.072423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947291; longitude = -129.982269; captureRadius = 10; duration = 100; initialDepth = 1474.405945; finalDepth = 1473.072423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.072423 # Seafloor depth:-1513.072423 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1514.405945 meters looking forward 0.000000 meters along route # Maximum depth: 1514.405945 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.405945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946387; longitude = -129.981953; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1474.368807; finalDepth = 1474.405945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.405945 # Seafloor depth:-1514.405945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.368807 meters looking forward 0.000000 meters along route # Maximum depth: 1514.368807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.368807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945761; longitude = -129.981832; captureRadius = 10; duration = 100; initialDepth = 1473.803283; finalDepth = 1474.368807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.368807 # Seafloor depth:-1514.368807 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.803283 meters looking forward 0.000000 meters along route # Maximum depth: 1513.803283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.803283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944861; longitude = -129.981657; captureRadius = 10; duration = 100; initialDepth = 1472.509884; finalDepth = 1473.803283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.803283 # Seafloor depth:-1513.803283 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.509884 meters looking forward 0.000000 meters along route # Maximum depth: 1512.509884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.509884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943961; longitude = -129.981482; captureRadius = 10; duration = 100; initialDepth = 1472.589518; finalDepth = 1472.509884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.509884 # Seafloor depth:-1512.509884 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.589518 meters looking forward 0.000000 meters along route # Maximum depth: 1512.589518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.589518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943056; longitude = -129.981307; captureRadius = 10; duration = 100; initialDepth = 1472.513295; finalDepth = 1472.589518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.589518 # Seafloor depth:-1512.589518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.513295 meters looking forward 0.000000 meters along route # Maximum depth: 1512.513295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.513295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942162; longitude = -129.981133; captureRadius = 10; duration = 100; initialDepth = 1472.602968; finalDepth = 1472.513295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.513295 # Seafloor depth:-1512.513295 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.602968 meters looking forward 0.000000 meters along route # Maximum depth: 1512.602968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.602968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941262; longitude = -129.980959; captureRadius = 10; duration = 100; initialDepth = 1473.321337; finalDepth = 1472.602968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.602968 # Seafloor depth:-1512.602968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.321337 meters looking forward 0.000000 meters along route # Maximum depth: 1513.321337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.321337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940362; longitude = -129.980784; captureRadius = 10; duration = 100; initialDepth = 1475.028472; finalDepth = 1473.321337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.321337 # Seafloor depth:-1513.321337 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.028472 meters looking forward 0.000000 meters along route # Maximum depth: 1515.028472 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.028472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939462; longitude = -129.980610; captureRadius = 10; duration = 100; initialDepth = 1475.605021; finalDepth = 1475.028472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.028472 # Seafloor depth:-1515.028472 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.605021 meters looking forward 0.000000 meters along route # Maximum depth: 1515.605021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.605021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938562; longitude = -129.980435; captureRadius = 10; duration = 100; initialDepth = 1474.586087; finalDepth = 1475.605021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.605021 # Seafloor depth:-1515.605021 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1514.586087 meters looking forward 0.000000 meters along route # Maximum depth: 1514.586087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.586087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937663; longitude = -129.980260; captureRadius = 10; duration = 100; initialDepth = 1475.111806; finalDepth = 1474.586087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1474.586087 # Seafloor depth:-1514.586087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.111806 meters looking forward 0.000000 meters along route # Maximum depth: 1515.111806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.111806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936763; longitude = -129.980086; captureRadius = 10; duration = 100; initialDepth = 1476.046381; finalDepth = 1475.111806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.111806 # Seafloor depth:-1515.111806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.046381 meters looking forward 0.000000 meters along route # Maximum depth: 1516.046381 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.046381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935863; longitude = -129.979911; captureRadius = 10; duration = 100; initialDepth = 1477.328905; finalDepth = 1476.046381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.046381 # Seafloor depth:-1516.046381 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.328905 meters looking forward 0.000000 meters along route # Maximum depth: 1517.328905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.328905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934963; longitude = -129.979737; captureRadius = 10; duration = 100; initialDepth = 1475.447209; finalDepth = 1477.328905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.328905 # Seafloor depth:-1517.328905 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.447209 meters looking forward 0.000000 meters along route # Maximum depth: 1515.447209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.447209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934063; longitude = -129.979562; captureRadius = 10; duration = 100; initialDepth = 1475.721999; finalDepth = 1475.447209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.447209 # Seafloor depth:-1515.447209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1515.721999 meters looking forward 0.000000 meters along route # Maximum depth: 1515.721999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.721999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933164; longitude = -129.979388; captureRadius = 10; duration = 100; initialDepth = 1476.099451; finalDepth = 1475.721999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1475.721999 # Seafloor depth:-1515.721999 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1516.099451 meters looking forward 0.000000 meters along route # Maximum depth: 1516.099451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.099451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932264; longitude = -129.979213; captureRadius = 10; duration = 100; initialDepth = 1477.134893; finalDepth = 1476.099451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1476.099451 # Seafloor depth:-1516.099451 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1517.134893 meters looking forward 0.000000 meters along route # Maximum depth: 1517.134893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.134893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931364; longitude = -129.979038; captureRadius = 10; duration = 100; initialDepth = 1478.993078; finalDepth = 1477.134893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1477.134893 # Seafloor depth:-1517.134893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1518.993078 meters looking forward 0.000000 meters along route # Maximum depth: 1518.993078 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.993078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930464; longitude = -129.978864; captureRadius = 10; duration = 100; initialDepth = 1479.677533; finalDepth = 1478.993078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1478.993078 # Seafloor depth:-1518.993078 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.677533 meters looking forward 0.000000 meters along route # Maximum depth: 1519.677533 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.677533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929564; longitude = -129.978689; captureRadius = 10; duration = 100; initialDepth = 1483.058882; finalDepth = 1479.677533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.677533 # Seafloor depth:-1519.677533 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.058882 meters looking forward 0.000000 meters along route # Maximum depth: 1523.058882 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.058882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928664; longitude = -129.978515; captureRadius = 10; duration = 100; initialDepth = 1483.447901; finalDepth = 1483.058882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.058882 # Seafloor depth:-1523.058882 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.447901 meters looking forward 0.000000 meters along route # Maximum depth: 1523.447901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.447901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927760; longitude = -129.978339; captureRadius = 10; duration = 100; initialDepth = 1486.192342; finalDepth = 1483.447901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.447901 # Seafloor depth:-1523.447901 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.192342 meters looking forward 0.000000 meters along route # Maximum depth: 1526.192342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.192342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926865; longitude = -129.978166; captureRadius = 10; duration = 100; initialDepth = 1485.009428; finalDepth = 1486.192342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.192342 # Seafloor depth:-1526.192342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1525.009428 meters looking forward 0.000000 meters along route # Maximum depth: 1525.009428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.009428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925965; longitude = -129.977991; captureRadius = 10; duration = 100; initialDepth = 1484.039299; finalDepth = 1485.009428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1485.009428 # Seafloor depth:-1525.009428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.039299 meters looking forward 0.000000 meters along route # Maximum depth: 1524.039299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.039299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925065; longitude = -129.977817; captureRadius = 10; duration = 100; initialDepth = 1484.474907; finalDepth = 1484.039299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.039299 # Seafloor depth:-1524.039299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.474907 meters looking forward 0.000000 meters along route # Maximum depth: 1524.474907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.474907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924165; longitude = -129.977642; captureRadius = 10; duration = 100; initialDepth = 1483.734919; finalDepth = 1484.474907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.474907 # Seafloor depth:-1524.474907 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.734919 meters looking forward 0.000000 meters along route # Maximum depth: 1523.734919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.734919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923265; longitude = -129.977467; captureRadius = 10; duration = 100; initialDepth = 1484.865511; finalDepth = 1483.734919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.734919 # Seafloor depth:-1523.734919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.865511 meters looking forward 0.000000 meters along route # Maximum depth: 1524.865511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.865511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922366; longitude = -129.977293; captureRadius = 10; duration = 100; initialDepth = 1487.707822; finalDepth = 1484.865511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.865511 # Seafloor depth:-1524.865511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.707822 meters looking forward 0.000000 meters along route # Maximum depth: 1527.707822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.707822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921466; longitude = -129.977118; captureRadius = 10; duration = 100; initialDepth = 1489.807209; finalDepth = 1487.707822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.707822 # Seafloor depth:-1527.707822 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1529.807209 meters looking forward 0.000000 meters along route # Maximum depth: 1529.807209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.807209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920566; longitude = -129.976944; captureRadius = 10; duration = 100; initialDepth = 1491.884348; finalDepth = 1489.807209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1489.807209 # Seafloor depth:-1529.807209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.884348 meters looking forward 0.000000 meters along route # Maximum depth: 1531.884348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.884348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919666; longitude = -129.976769; captureRadius = 10; duration = 100; initialDepth = 1492.687792; finalDepth = 1491.884348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.884348 # Seafloor depth:-1531.884348 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.687792 meters looking forward 0.000000 meters along route # Maximum depth: 1532.687792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.687792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918766; longitude = -129.976595; captureRadius = 10; duration = 100; initialDepth = 1493.524017; finalDepth = 1492.687792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.687792 # Seafloor depth:-1532.687792 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.524017 meters looking forward 0.000000 meters along route # Maximum depth: 1533.524017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.524017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917867; longitude = -129.976420; captureRadius = 10; duration = 100; initialDepth = 1496.681513; finalDepth = 1493.524017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.524017 # Seafloor depth:-1533.524017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.681513 meters looking forward 0.000000 meters along route # Maximum depth: 1536.681513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.681513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916967; longitude = -129.976245; captureRadius = 10; duration = 100; initialDepth = 1499.926712; finalDepth = 1496.681513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.681513 # Seafloor depth:-1536.681513 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.926712 meters looking forward 0.000000 meters along route # Maximum depth: 1539.926712 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.926712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916067; longitude = -129.976071; captureRadius = 10; duration = 100; initialDepth = 1500.471555; finalDepth = 1499.926712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.926712 # Seafloor depth:-1539.926712 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.471555 meters looking forward 0.000000 meters along route # Maximum depth: 1540.471555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.471555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915167; longitude = -129.975896; captureRadius = 10; duration = 100; initialDepth = 1501.935925; finalDepth = 1500.471555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.471555 # Seafloor depth:-1540.471555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1541.935925 meters looking forward 0.000000 meters along route # Maximum depth: 1541.935925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.935925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914267; longitude = -129.975722; captureRadius = 10; duration = 100; initialDepth = 1505.552571; finalDepth = 1501.935925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.935925 # Seafloor depth:-1541.935925 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1545.552571 meters looking forward 0.000000 meters along route # Maximum depth: 1545.552571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.552571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913367; longitude = -129.975547; captureRadius = 10; duration = 100; initialDepth = 1504.997689; finalDepth = 1505.552571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.552571 # Seafloor depth:-1545.552571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.997689 meters looking forward 0.000000 meters along route # Maximum depth: 1544.997689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.997689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912464; longitude = -129.975372; captureRadius = 10; duration = 100; initialDepth = 1506.040384; finalDepth = 1504.997689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.997689 # Seafloor depth:-1544.997689 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1546.040384 meters looking forward 0.000000 meters along route # Maximum depth: 1546.040384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.040384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911568; longitude = -129.975198; captureRadius = 10; duration = 100; initialDepth = 1512.956029; finalDepth = 1506.040384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1506.040384 # Seafloor depth:-1546.040384 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1552.956029 meters looking forward 0.000000 meters along route # Maximum depth: 1552.956029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.956029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910668; longitude = -129.975023; captureRadius = 10; duration = 100; initialDepth = 1511.419866; finalDepth = 1512.956029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1512.956029 # Seafloor depth:-1552.956029 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1551.419866 meters looking forward 0.000000 meters along route # Maximum depth: 1551.419866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.419866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909768; longitude = -129.974849; captureRadius = 10; duration = 100; initialDepth = 1517.855239; finalDepth = 1511.419866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.419866 # Seafloor depth:-1551.419866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1557.855239 meters looking forward 0.000000 meters along route # Maximum depth: 1557.855239 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.855239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908868; longitude = -129.974674; captureRadius = 10; duration = 100; initialDepth = 1519.723909; finalDepth = 1517.855239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.855239 # Seafloor depth:-1557.855239 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1559.723909 meters looking forward 0.000000 meters along route # Maximum depth: 1559.723909 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.723909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907968; longitude = -129.974500; captureRadius = 10; duration = 100; initialDepth = 1522.405378; finalDepth = 1519.723909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1519.723909 # Seafloor depth:-1559.723909 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1562.405378 meters looking forward 0.000000 meters along route # Maximum depth: 1562.405378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.405378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907069; longitude = -129.974325; captureRadius = 10; duration = 100; initialDepth = 1524.032959; finalDepth = 1522.405378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1522.405378 # Seafloor depth:-1562.405378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 5 # Segment length 100.957825 meters # Minimum depth: 1564.032959 meters looking forward 0.000000 meters along route # Maximum depth: 1564.032959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.032959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906171; longitude = -129.974151; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1524.154694; finalDepth = 1524.032959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1524.032959 # Seafloor depth:-1564.032959 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1564.154694 meters looking forward 0.000000 meters along route # Maximum depth: 1564.154694 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.154694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906137; longitude = -129.974791; captureRadius = 10; duration = 100; initialDepth = 1517.813477; finalDepth = 1524.154694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # 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:1524.154694 # Seafloor depth:-1564.154694 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 100.957825 meters # Minimum depth: 1557.813477 meters looking forward 0.000000 meters along route # Maximum depth: 1557.813477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.813477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906066; longitude = -129.976107; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1515.754236; finalDepth = 1517.813477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1517.813477 # Seafloor depth:-1557.813477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1555.754236 meters looking forward 0.000000 meters along route # Maximum depth: 1555.754236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.754236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.906844; longitude = -129.976245; captureRadius = 10; duration = 100; initialDepth = 1511.728482; finalDepth = 1515.754236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1515.754236 # Seafloor depth:-1555.754236 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1551.728482 meters looking forward 0.000000 meters along route # Maximum depth: 1551.728482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.728482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.907744; longitude = -129.976406; captureRadius = 10; duration = 100; initialDepth = 1509.513780; finalDepth = 1511.728482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1511.728482 # Seafloor depth:-1551.728482 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1549.513780 meters looking forward 0.000000 meters along route # Maximum depth: 1549.513780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.513780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.908643; longitude = -129.976566; captureRadius = 10; duration = 100; initialDepth = 1505.951069; finalDepth = 1509.513780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1509.51378 # Seafloor depth:-1549.513780 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1545.951069 meters looking forward 0.000000 meters along route # Maximum depth: 1545.951069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.951069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.909547; longitude = -129.976727; captureRadius = 10; duration = 100; initialDepth = 1504.310806; finalDepth = 1505.951069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1505.951069 # Seafloor depth:-1545.951069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1544.310806 meters looking forward 0.000000 meters along route # Maximum depth: 1544.310806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.310806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.910443; longitude = -129.976886; captureRadius = 10; duration = 100; initialDepth = 1501.977214; finalDepth = 1504.310806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1504.310806 # Seafloor depth:-1544.310806 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1541.977214 meters looking forward 0.000000 meters along route # Maximum depth: 1541.977214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.977214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.911343; longitude = -129.977046; captureRadius = 10; duration = 100; initialDepth = 1502.669209; finalDepth = 1501.977214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1501.977214 # Seafloor depth:-1541.977214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1542.669209 meters looking forward 0.000000 meters along route # Maximum depth: 1542.669209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.669209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.912243; longitude = -129.977206; captureRadius = 10; duration = 100; initialDepth = 1500.597609; finalDepth = 1502.669209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1502.669209 # Seafloor depth:-1542.669209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1540.597609 meters looking forward 0.000000 meters along route # Maximum depth: 1540.597609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.597609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.913142; longitude = -129.977367; captureRadius = 10; duration = 100; initialDepth = 1499.266787; finalDepth = 1500.597609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1500.597609 # Seafloor depth:-1540.597609 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.266787 meters looking forward 0.000000 meters along route # Maximum depth: 1539.266787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.266787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914042; longitude = -129.977527; captureRadius = 10; duration = 100; initialDepth = 1499.947134; finalDepth = 1499.266787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.266787 # Seafloor depth:-1539.266787 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.947134 meters looking forward 0.000000 meters along route # Maximum depth: 1539.947134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.947134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.914942; longitude = -129.977687; captureRadius = 10; duration = 100; initialDepth = 1495.255421; finalDepth = 1499.947134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.947134 # Seafloor depth:-1539.947134 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.255421 meters looking forward 0.000000 meters along route # Maximum depth: 1535.255421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.255421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.915842; longitude = -129.977847; captureRadius = 10; duration = 100; initialDepth = 1493.923738; finalDepth = 1495.255421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.255421 # Seafloor depth:-1535.255421 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.923738 meters looking forward 0.000000 meters along route # Maximum depth: 1533.923738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.923738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.916742; longitude = -129.978007; captureRadius = 10; duration = 100; initialDepth = 1491.848803; finalDepth = 1493.923738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.923738 # Seafloor depth:-1533.923738 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.848803 meters looking forward 0.000000 meters along route # Maximum depth: 1531.848803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.848803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.917642; longitude = -129.978167; captureRadius = 10; duration = 100; initialDepth = 1490.821433; finalDepth = 1491.848803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.848803 # Seafloor depth:-1531.848803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1530.821433 meters looking forward 0.000000 meters along route # Maximum depth: 1530.821433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.821433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.918541; longitude = -129.978328; captureRadius = 10; duration = 100; initialDepth = 1486.413208; finalDepth = 1490.821433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1490.821433 # Seafloor depth:-1530.821433 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 3 # Segment length 100.957825 meters # Minimum depth: 1526.413208 meters looking forward 0.000000 meters along route # Maximum depth: 1526.413208 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.413208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.919471; longitude = -129.978493; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1487.677659; finalDepth = 1486.413208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.413208 # Seafloor depth:-1526.413208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.677659 meters looking forward 0.000000 meters along route # Maximum depth: 1527.677659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.677659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920026; longitude = -129.977990; captureRadius = 10; duration = 100; initialDepth = 1488.125574; finalDepth = 1487.677659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.677659 # Seafloor depth:-1527.677659 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1528.125574 meters looking forward 0.000000 meters along route # Maximum depth: 1528.125574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.125574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.920791; longitude = -129.977296; captureRadius = 10; duration = 100; initialDepth = 1492.760866; finalDepth = 1488.125574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1488.125574 # Seafloor depth:-1528.125574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.760866 meters looking forward 0.000000 meters along route # Maximum depth: 1532.760866 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.760866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.921556; longitude = -129.976603; captureRadius = 10; duration = 100; initialDepth = 1492.465282; finalDepth = 1492.760866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.760866 # Seafloor depth:-1532.760866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.465282 meters looking forward 0.000000 meters along route # Maximum depth: 1532.465282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.465282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.922321; longitude = -129.975910; captureRadius = 10; duration = 100; initialDepth = 1492.926322; finalDepth = 1492.465282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.465282 # Seafloor depth:-1532.465282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.926322 meters looking forward 0.000000 meters along route # Maximum depth: 1532.926322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.926322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923086; longitude = -129.975216; captureRadius = 10; duration = 100; initialDepth = 1493.698017; finalDepth = 1492.926322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.926322 # Seafloor depth:-1532.926322 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.698017 meters looking forward 0.000000 meters along route # Maximum depth: 1533.698017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.698017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.923850; longitude = -129.974523; captureRadius = 10; duration = 100; initialDepth = 1496.156390; finalDepth = 1493.698017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.698017 # Seafloor depth:-1533.698017 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.156390 meters looking forward 0.000000 meters along route # Maximum depth: 1536.156390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.156390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.924615; longitude = -129.973830; captureRadius = 10; duration = 100; initialDepth = 1498.587209; finalDepth = 1496.156390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.15639 # Seafloor depth:-1536.156390 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.587209 meters looking forward 0.000000 meters along route # Maximum depth: 1538.587209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.587209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.925380; longitude = -129.973136; captureRadius = 10; duration = 100; initialDepth = 1496.408642; finalDepth = 1498.587209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.587209 # Seafloor depth:-1538.587209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.408642 meters looking forward 0.000000 meters along route # Maximum depth: 1536.408642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.408642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926145; longitude = -129.972443; captureRadius = 10; duration = 100; initialDepth = 1494.100115; finalDepth = 1496.408642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.408642 # Seafloor depth:-1536.408642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.100115 meters looking forward 0.000000 meters along route # Maximum depth: 1534.100115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.100115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.926910; longitude = -129.971750; captureRadius = 10; duration = 100; initialDepth = 1493.281546; finalDepth = 1494.100115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.100115 # Seafloor depth:-1534.100115 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.281546 meters looking forward 0.000000 meters along route # Maximum depth: 1533.281546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.281546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.927675; longitude = -129.971056; captureRadius = 10; duration = 100; initialDepth = 1493.833664; finalDepth = 1493.281546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.281546 # Seafloor depth:-1533.281546 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.833664 meters looking forward 0.000000 meters along route # Maximum depth: 1533.833664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.833664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.928439; longitude = -129.970363; captureRadius = 10; duration = 100; initialDepth = 1493.977405; finalDepth = 1493.833664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.833664 # Seafloor depth:-1533.833664 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.977405 meters looking forward 0.000000 meters along route # Maximum depth: 1533.977405 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.977405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929204; longitude = -129.969670; captureRadius = 10; duration = 100; initialDepth = 1494.875877; finalDepth = 1493.977405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.977405 # Seafloor depth:-1533.977405 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.875877 meters looking forward 0.000000 meters along route # Maximum depth: 1534.875877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.875877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.929969; longitude = -129.968976; captureRadius = 10; duration = 100; initialDepth = 1497.194380; finalDepth = 1494.875877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.875877 # Seafloor depth:-1534.875877 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.194380 meters looking forward 0.000000 meters along route # Maximum depth: 1537.194380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.194380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.930734; longitude = -129.968283; captureRadius = 10; duration = 100; initialDepth = 1496.488991; finalDepth = 1497.194380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.19438 # Seafloor depth:-1537.194380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.488991 meters looking forward 0.000000 meters along route # Maximum depth: 1536.488991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.488991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.931499; longitude = -129.967590; captureRadius = 10; duration = 100; initialDepth = 1496.315276; finalDepth = 1496.488991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.488991 # Seafloor depth:-1536.488991 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.315276 meters looking forward 0.000000 meters along route # Maximum depth: 1536.315276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.315276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.932264; longitude = -129.966896; captureRadius = 10; duration = 100; initialDepth = 1495.504556; finalDepth = 1496.315276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.315276 # Seafloor depth:-1536.315276 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.504556 meters looking forward 0.000000 meters along route # Maximum depth: 1535.504556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.504556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933029; longitude = -129.966203; captureRadius = 10; duration = 100; initialDepth = 1495.307601; finalDepth = 1495.504556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.504556 # Seafloor depth:-1535.504556 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.307601 meters looking forward 0.000000 meters along route # Maximum depth: 1535.307601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.307601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.933793; longitude = -129.965510; captureRadius = 10; duration = 100; initialDepth = 1494.496631; finalDepth = 1495.307601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.307601 # Seafloor depth:-1535.307601 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.496631 meters looking forward 0.000000 meters along route # Maximum depth: 1534.496631 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.496631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.934558; longitude = -129.964816; captureRadius = 10; duration = 100; initialDepth = 1496.011641; finalDepth = 1494.496631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.496631 # Seafloor depth:-1534.496631 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.011641 meters looking forward 0.000000 meters along route # Maximum depth: 1536.011641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.011641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.935323; longitude = -129.964123; captureRadius = 10; duration = 100; initialDepth = 1495.671399; finalDepth = 1496.011641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.011641 # Seafloor depth:-1536.011641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.671399 meters looking forward 0.000000 meters along route # Maximum depth: 1535.671399 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.671399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936088; longitude = -129.963430; captureRadius = 10; duration = 100; initialDepth = 1496.564545; finalDepth = 1495.671399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.671399 # Seafloor depth:-1535.671399 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 2 # Segment length 100.957825 meters # Minimum depth: 1536.564545 meters looking forward 0.000000 meters along route # Maximum depth: 1536.564545 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.564545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.936851; longitude = -129.962738; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1497.001069; finalDepth = 1496.564545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.564545 # Seafloor depth:-1536.564545 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.001069 meters looking forward 0.000000 meters along route # Maximum depth: 1537.001069 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.001069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.937483; longitude = -129.962854; captureRadius = 10; duration = 100; initialDepth = 1496.613349; finalDepth = 1497.001069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.001069 # Seafloor depth:-1537.001069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.613349 meters looking forward 0.000000 meters along route # Maximum depth: 1536.613349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.613349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.938382; longitude = -129.963018; captureRadius = 10; duration = 100; initialDepth = 1495.869441; finalDepth = 1496.613349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.613349 # Seafloor depth:-1536.613349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.869441 meters looking forward 0.000000 meters along route # Maximum depth: 1535.869441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.869441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.939282; longitude = -129.963183; captureRadius = 10; duration = 100; initialDepth = 1499.420522; finalDepth = 1495.869441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.869441 # Seafloor depth:-1535.869441 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1539.420522 meters looking forward 0.000000 meters along route # Maximum depth: 1539.420522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.420522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.940182; longitude = -129.963348; captureRadius = 10; duration = 100; initialDepth = 1497.846532; finalDepth = 1499.420522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1499.420522 # Seafloor depth:-1539.420522 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.846532 meters looking forward 0.000000 meters along route # Maximum depth: 1537.846532 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.846532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941082; longitude = -129.963513; captureRadius = 10; duration = 100; initialDepth = 1497.662009; finalDepth = 1497.846532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.846532 # Seafloor depth:-1537.846532 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.662009 meters looking forward 0.000000 meters along route # Maximum depth: 1537.662009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.662009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.941982; longitude = -129.963678; captureRadius = 10; duration = 100; initialDepth = 1497.823820; finalDepth = 1497.662009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.662009 # Seafloor depth:-1537.662009 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1537.823820 meters looking forward 0.000000 meters along route # Maximum depth: 1537.823820 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.823820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.942882; longitude = -129.963842; captureRadius = 10; duration = 100; initialDepth = 1494.242960; finalDepth = 1497.823820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1497.82382 # Seafloor depth:-1537.823820 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.242960 meters looking forward 0.000000 meters along route # Maximum depth: 1534.242960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.242960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.943781; longitude = -129.964007; captureRadius = 10; duration = 100; initialDepth = 1492.861363; finalDepth = 1494.242960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.24296 # Seafloor depth:-1534.242960 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.861363 meters looking forward 0.000000 meters along route # Maximum depth: 1532.861363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.861363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.944681; longitude = -129.964172; captureRadius = 10; duration = 100; initialDepth = 1493.798523; finalDepth = 1492.861363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.861363 # Seafloor depth:-1532.861363 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.798523 meters looking forward 0.000000 meters along route # Maximum depth: 1533.798523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.798523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.945581; longitude = -129.964337; captureRadius = 10; duration = 100; initialDepth = 1495.462477; finalDepth = 1493.798523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.798523 # Seafloor depth:-1533.798523 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.462477 meters looking forward 0.000000 meters along route # Maximum depth: 1535.462477 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.462477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.946481; longitude = -129.964501; captureRadius = 10; duration = 100; initialDepth = 1498.550187; finalDepth = 1495.462477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.462477 # Seafloor depth:-1535.462477 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1538.550187 meters looking forward 0.000000 meters along route # Maximum depth: 1538.550187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.550187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.947381; longitude = -129.964666; captureRadius = 10; duration = 100; initialDepth = 1495.390765; finalDepth = 1498.550187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1498.550187 # Seafloor depth:-1538.550187 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.390765 meters looking forward 0.000000 meters along route # Maximum depth: 1535.390765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.390765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.948281; longitude = -129.964831; captureRadius = 10; duration = 100; initialDepth = 1492.718628; finalDepth = 1495.390765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.390765 # Seafloor depth:-1535.390765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 1 # Segment length 100.957825 meters # Minimum depth: 1532.718628 meters looking forward 0.000000 meters along route # Maximum depth: 1532.718628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.718628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949176; longitude = -129.964995; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 1493.552847; finalDepth = 1492.718628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.718628 # Seafloor depth:-1532.718628 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1533.552847 meters looking forward 0.000000 meters along route # Maximum depth: 1533.552847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.552847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.949630; longitude = -129.965652; captureRadius = 10; duration = 100; initialDepth = 1496.564199; finalDepth = 1493.552847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1493.552847 # Seafloor depth:-1533.552847 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1536.564199 meters looking forward 0.000000 meters along route # Maximum depth: 1536.564199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.564199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950285; longitude = -129.966598; captureRadius = 10; duration = 100; initialDepth = 1495.296309; finalDepth = 1496.564199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1496.564199 # Seafloor depth:-1536.564199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1535.296309 meters looking forward 0.000000 meters along route # Maximum depth: 1535.296309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.296309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.950935; longitude = -129.967537; captureRadius = 10; duration = 100; initialDepth = 1494.752966; finalDepth = 1495.296309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1495.296309 # Seafloor depth:-1535.296309 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1534.752966 meters looking forward 0.000000 meters along route # Maximum depth: 1534.752966 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.752966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.951580; longitude = -129.968469; captureRadius = 10; duration = 100; initialDepth = 1492.822120; finalDepth = 1494.752966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1494.752966 # Seafloor depth:-1534.752966 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1532.822120 meters looking forward 0.000000 meters along route # Maximum depth: 1532.822120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.822120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952240; longitude = -129.969423; captureRadius = 10; duration = 100; initialDepth = 1491.987570; finalDepth = 1492.822120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1492.82212 # Seafloor depth:-1532.822120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1531.987570 meters looking forward 0.000000 meters along route # Maximum depth: 1531.987570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.987570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.952874; longitude = -129.970340; captureRadius = 10; duration = 100; initialDepth = 1487.575652; finalDepth = 1491.987570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1491.98757 # Seafloor depth:-1531.987570 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1527.575652 meters looking forward 0.000000 meters along route # Maximum depth: 1527.575652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.575652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.953544; longitude = -129.971309; captureRadius = 10; duration = 100; initialDepth = 1486.316791; finalDepth = 1487.575652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1487.575652 # Seafloor depth:-1527.575652 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1526.316791 meters looking forward 0.000000 meters along route # Maximum depth: 1526.316791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.316791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954213; longitude = -129.972275; captureRadius = 10; duration = 100; initialDepth = 1484.256395; finalDepth = 1486.316791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1486.316791 # Seafloor depth:-1526.316791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1524.256395 meters looking forward 0.000000 meters along route # Maximum depth: 1524.256395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.256395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.954849; longitude = -129.973195; captureRadius = 10; duration = 100; initialDepth = 1483.277518; finalDepth = 1484.256395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1484.256395 # Seafloor depth:-1524.256395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1523.277518 meters looking forward 0.000000 meters along route # Maximum depth: 1523.277518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.277518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.955507; longitude = -129.974146; captureRadius = 10; duration = 100; initialDepth = 1482.823586; finalDepth = 1483.277518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1483.277518 # Seafloor depth:-1523.277518 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.823586 meters looking forward 0.000000 meters along route # Maximum depth: 1522.823586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.823586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956154; longitude = -129.975081; captureRadius = 10; duration = 100; initialDepth = 1482.412297; finalDepth = 1482.823586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.823586 # Seafloor depth:-1522.823586 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1522.412297 meters looking forward 0.000000 meters along route # Maximum depth: 1522.412297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.412297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.956802; longitude = -129.976017; captureRadius = 10; duration = 100; initialDepth = 1481.758365; finalDepth = 1482.412297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1482.412297 # Seafloor depth:-1522.412297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.758365 meters looking forward 0.000000 meters along route # Maximum depth: 1521.758365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.758365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.957459; longitude = -129.976967; captureRadius = 10; duration = 100; initialDepth = 1481.134691; finalDepth = 1481.758365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.758365 # Seafloor depth:-1521.758365 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1521.134691 meters looking forward 0.000000 meters along route # Maximum depth: 1521.134691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.134691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958096; longitude = -129.977888; captureRadius = 10; duration = 100; initialDepth = 1479.180823; finalDepth = 1481.134691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1481.134691 # Seafloor depth:-1521.134691 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1519.180823 meters looking forward 0.000000 meters along route # Maximum depth: 1519.180823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.180823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.958765; longitude = -129.978855; captureRadius = 10; duration = 100; initialDepth = 1471.841987; finalDepth = 1479.180823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1479.180823 # Seafloor depth:-1519.180823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.841987 meters looking forward 0.000000 meters along route # Maximum depth: 1511.841987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.841987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.959438; longitude = -129.979828; captureRadius = 10; duration = 100; initialDepth = 1472.078717; finalDepth = 1471.841987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.841987 # Seafloor depth:-1511.841987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1512.078717 meters looking forward 0.000000 meters along route # Maximum depth: 1512.078717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.078717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960113; longitude = -129.980803; captureRadius = 10; duration = 100; initialDepth = 1473.343006; finalDepth = 1472.078717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1472.078717 # Seafloor depth:-1512.078717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1513.343006 meters looking forward 0.000000 meters along route # Maximum depth: 1513.343006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.343006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.960774; longitude = -129.981758; captureRadius = 10; duration = 100; initialDepth = 1471.105433; finalDepth = 1473.343006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1473.343006 # Seafloor depth:-1513.343006 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1511.105433 meters looking forward 0.000000 meters along route # Maximum depth: 1511.105433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.105433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.961418; longitude = -129.982689; captureRadius = 10; duration = 100; initialDepth = 1469.108249; finalDepth = 1471.105433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1471.105433 # Seafloor depth:-1511.105433 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 100.957825 meters # Minimum depth: 1509.108249 meters looking forward 0.000000 meters along route # Maximum depth: 1509.108249 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 1607.140564 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.108249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 45.962068; longitude = -129.983629; captureRadius = 10; duration = 100; initialDepth = 1465.308899; finalDepth = 1469.108249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:1469.108249 # Seafloor depth:-1509.108249 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:1465.308899 # Seafloor depth:-1505.308899 # behavior reson { duration = 6; 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 = 1484.15; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 100.957825 meters # Minimum depth: 1505.308899 meters looking forward 0.000000 meters along route # Maximum depth: 1505.308899 meters looking forward 0.000000 meters along route # Vehicle depth: 1465.308899 meters behavior waypoint { latitude = 45.962708; longitude = -129.984554; captureRadius = 10; duration = 700; depth = 1465.308899; speed = 1.500000; } # # 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 1465.308899 meters set by local depth and desired altitude behavior descend { duration = 4331; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 1455.308899; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 100.957825 meters # Minimum depth: 1505.308899 meters looking forward 0.000000 meters along route # Maximum depth: 1505.308899 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 45.962708; longitude = -129.984554; captureRadius = 10; duration = 700; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.468922; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 135.468922; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_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 = 1484.15; 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; } # ####################################################### #######################################################