# 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: Endeavour2008_1v11.rte # Mission File: Endeavour2008_1v11.cfg # Distance: 60135.763216 (m) # Estimated Time: 39653 (s) 11.015 (hr) # Abort Time: 51549 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2772 (s) # Way Points: 23 # Route Points: 405 # 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: 2367.019531 (m) # Abort Vehicle Depth: 2392.019531 (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 -129.096109 47.947399 -2216.733887 0.000000 3 # 1 -129.114705 47.930310 -2119.875326 2352.888345 3 # 2 -129.140130 47.887618 -2273.222168 7464.110329 4 # 3 -129.138018 47.887052 -2330.574463 7634.110329 3 # 4 -129.112738 47.929685 -2188.415100 12735.234871 4 # 5 -129.110625 47.929119 -2163.742432 12905.234871 3 # 6 -129.135905 47.886486 -2352.965454 18006.359413 4 # 7 -129.133793 47.885919 -2392.019531 18176.359413 3 # 8 -129.108511 47.928552 -2204.571106 23277.483954 4 # 9 -129.106397 47.927985 -2255.568787 23447.483954 3 # 10 -129.131680 47.885353 -2341.833191 28548.608496 4 # 11 -129.129568 47.884787 -2376.572327 28718.608496 3 # 12 -129.104283 47.927418 -2246.321838 33819.733038 4 # 13 -129.102169 47.926851 -2230.064148 33989.733038 3 # 14 -129.127456 47.884220 -2387.854004 39090.857580 4 # 15 -129.125344 47.883654 -2352.259277 39260.857580 3 # 16 -129.100056 47.926285 -2204.976379 44361.982122 4 # 17 -129.097942 47.925718 -2135.886047 44531.982122 3 # 18 -129.123232 47.883087 -2321.210876 49633.106664 4 # 19 -129.121119 47.882521 -2338.746582 49803.106664 3 # 20 -129.095829 47.925151 -2143.127075 54904.231205 3 # 21 -129.126343 47.914390 -2144.466960 57478.672162 3 # 22 -129.113902 47.891995 -2310.468262 60135.763216 4 # # A total of 405 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 46441; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2367.019531; abortDepth = 2392.019531; 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 = 2772; 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 22 # Segment length 135.410816 meters # Minimum depth: 2310.468262 meters looking forward 0.000000 meters along route # Maximum depth: 2310.468262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.468262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891995; longitude = -129.113902; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2261.578054; finalDepth = 2270.468262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2270.468262 # Seafloor depth:-2310.468262 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2301.578054 meters looking forward 0.000000 meters along route # Maximum depth: 2301.578054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.578054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892959; longitude = -129.114437; captureRadius = 10; duration = 135; initialDepth = 2214.988297; finalDepth = 2261.578054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2261.578054 # Seafloor depth:-2301.578054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2254.988297 meters looking forward 0.000000 meters along route # Maximum depth: 2254.988297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2214.988297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894403; longitude = -129.115240; captureRadius = 10; duration = 135; initialDepth = 2212.938705; finalDepth = 2214.988297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2214.988297 # Seafloor depth:-2254.988297 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2252.938705 meters looking forward 0.000000 meters along route # Maximum depth: 2252.938705 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2212.938705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895848; longitude = -129.116042; captureRadius = 10; duration = 135; initialDepth = 2205.201794; finalDepth = 2212.938705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2212.938705 # Seafloor depth:-2252.938705 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2245.201794 meters looking forward 0.000000 meters along route # Maximum depth: 2245.201794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.201794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897293; longitude = -129.116845; captureRadius = 10; duration = 135; initialDepth = 2207.900265; finalDepth = 2205.201794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2205.201794 # Seafloor depth:-2245.201794 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2247.900265 meters looking forward 0.000000 meters along route # Maximum depth: 2247.900265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2207.900265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898738; longitude = -129.117648; captureRadius = 10; duration = 135; initialDepth = 2208.587654; finalDepth = 2207.900265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2207.900265 # Seafloor depth:-2247.900265 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.587654 meters looking forward 0.000000 meters along route # Maximum depth: 2248.587654 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.587654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900183; longitude = -129.118450; captureRadius = 10; duration = 135; initialDepth = 2225.040157; finalDepth = 2208.587654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.587654 # Seafloor depth:-2248.587654 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2265.040157 meters looking forward 0.000000 meters along route # Maximum depth: 2265.040157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2225.040157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901628; longitude = -129.119253; captureRadius = 10; duration = 135; initialDepth = 2240.826298; finalDepth = 2225.040157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2225.040157 # Seafloor depth:-2265.040157 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2280.826298 meters looking forward 0.000000 meters along route # Maximum depth: 2280.826298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2240.826298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903072; longitude = -129.120056; captureRadius = 10; duration = 135; initialDepth = 2211.111683; finalDepth = 2240.826298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2240.826298 # Seafloor depth:-2280.826298 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2251.111683 meters looking forward 0.000000 meters along route # Maximum depth: 2251.111683 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2211.111683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904517; longitude = -129.120858; captureRadius = 10; duration = 135; initialDepth = 2205.822218; finalDepth = 2211.111683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2211.111683 # Seafloor depth:-2251.111683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2245.822218 meters looking forward 0.000000 meters along route # Maximum depth: 2245.822218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.822218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905962; longitude = -129.121661; captureRadius = 10; duration = 135; initialDepth = 2216.448226; finalDepth = 2205.822218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2205.822218 # Seafloor depth:-2245.822218 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2256.448226 meters looking forward 0.000000 meters along route # Maximum depth: 2256.448226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2216.448226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907407; longitude = -129.122464; captureRadius = 10; duration = 135; initialDepth = 2212.852366; finalDepth = 2216.448226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2216.448226 # Seafloor depth:-2256.448226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2252.852366 meters looking forward 0.000000 meters along route # Maximum depth: 2252.852366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2212.852366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908852; longitude = -129.123266; captureRadius = 10; duration = 135; initialDepth = 2186.881804; finalDepth = 2212.852366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2212.852366 # Seafloor depth:-2252.852366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2226.881804 meters looking forward 0.000000 meters along route # Maximum depth: 2226.881804 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2186.881804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910297; longitude = -129.124069; captureRadius = 10; duration = 135; initialDepth = 2129.398170; finalDepth = 2186.881804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2186.881804 # Seafloor depth:-2226.881804 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2169.398170 meters looking forward 0.000000 meters along route # Maximum depth: 2169.398170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2129.398170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911742; longitude = -129.124872; captureRadius = 10; duration = 135; initialDepth = 2101.808791; finalDepth = 2129.398170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2129.39817 # Seafloor depth:-2169.398170 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2141.808791 meters looking forward 0.000000 meters along route # Maximum depth: 2141.808791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2101.808791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913186; longitude = -129.125674; captureRadius = 10; duration = 135; initialDepth = 2104.466960; finalDepth = 2101.808791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2101.808791 # Seafloor depth:-2141.808791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 21 # Segment length 135.410816 meters # Minimum depth: 2144.466960 meters looking forward 0.000000 meters along route # Maximum depth: 2144.466960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.466960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914390; longitude = -129.126343; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2105.587846; finalDepth = 2104.466960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2104.46696 # Seafloor depth:-2144.466960 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2145.587846 meters looking forward 0.000000 meters along route # Maximum depth: 2145.587846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2105.587846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914485; longitude = -129.126076; captureRadius = 10; duration = 135; initialDepth = 2106.000138; finalDepth = 2105.587846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2105.587846 # Seafloor depth:-2145.587846 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2146.000138 meters looking forward 0.000000 meters along route # Maximum depth: 2146.000138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.000138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914909; longitude = -129.124872; captureRadius = 10; duration = 135; initialDepth = 2117.275192; finalDepth = 2106.000138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2106.000138 # Seafloor depth:-2146.000138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2157.275192 meters looking forward 0.000000 meters along route # Maximum depth: 2157.275192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.275192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915334; longitude = -129.123668; captureRadius = 10; duration = 135; initialDepth = 2126.053843; finalDepth = 2117.275192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2117.275192 # Seafloor depth:-2157.275192 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2166.053843 meters looking forward 0.000000 meters along route # Maximum depth: 2166.053843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2126.053843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915759; longitude = -129.122464; captureRadius = 10; duration = 135; initialDepth = 2137.324408; finalDepth = 2126.053843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2126.053843 # Seafloor depth:-2166.053843 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2177.324408 meters looking forward 0.000000 meters along route # Maximum depth: 2177.324408 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2137.324408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916183; longitude = -129.121260; captureRadius = 10; duration = 135; initialDepth = 2167.799646; finalDepth = 2137.324408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2137.324408 # Seafloor depth:-2177.324408 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2211.316595 meters looking forward 0.000000 meters along route # Maximum depth: 2211.316595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2167.799646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916608; longitude = -129.120056; captureRadius = 10; duration = 135; initialDepth = 2191.318467; finalDepth = 2167.799646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5169488999991 # Actual altitude: 50 # Commanded vehicle depth:2167.7996461 # Seafloor depth:-2211.316595 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2231.318467 meters looking forward 0.000000 meters along route # Maximum depth: 2231.318467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2191.318467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917032; longitude = -129.118852; captureRadius = 10; duration = 135; initialDepth = 2195.566595; finalDepth = 2191.318467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.5169488999991 # Actual altitude: 50 # Commanded vehicle depth:2191.318467 # Seafloor depth:-2231.318467 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2235.566595 meters looking forward 0.000000 meters along route # Maximum depth: 2235.566595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2195.566595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917457; longitude = -129.117648; captureRadius = 10; duration = 135; initialDepth = 2194.711760; finalDepth = 2195.566595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2195.566595 # Seafloor depth:-2235.566595 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2234.711760 meters looking forward 0.000000 meters along route # Maximum depth: 2234.711760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2194.711760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917881; longitude = -129.116444; captureRadius = 10; duration = 135; initialDepth = 2198.370466; finalDepth = 2194.711760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2194.71176 # Seafloor depth:-2234.711760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2238.370466 meters looking forward 0.000000 meters along route # Maximum depth: 2238.370466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2198.370466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918306; longitude = -129.115240; captureRadius = 10; duration = 135; initialDepth = 2190.465091; finalDepth = 2198.370466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2198.370466 # Seafloor depth:-2238.370466 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2230.465091 meters looking forward 0.000000 meters along route # Maximum depth: 2230.465091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2190.465091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918730; longitude = -129.114036; captureRadius = 10; duration = 135; initialDepth = 2203.927988; finalDepth = 2190.465091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2190.465091 # Seafloor depth:-2230.465091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2243.927988 meters looking forward 0.000000 meters along route # Maximum depth: 2243.927988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2203.927988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919155; longitude = -129.112832; captureRadius = 10; duration = 135; initialDepth = 2230.427817; finalDepth = 2203.927988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2203.927988 # Seafloor depth:-2243.927988 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2270.427817 meters looking forward 0.000000 meters along route # Maximum depth: 2270.427817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2230.427817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919580; longitude = -129.111628; captureRadius = 10; duration = 135; initialDepth = 2241.168865; finalDepth = 2230.427817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2230.427817 # Seafloor depth:-2270.427817 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2281.168865 meters looking forward 0.000000 meters along route # Maximum depth: 2281.168865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2241.168865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920004; longitude = -129.110424; captureRadius = 10; duration = 135; initialDepth = 2238.918098; finalDepth = 2241.168865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2241.168865 # Seafloor depth:-2281.168865 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2278.918098 meters looking forward 0.000000 meters along route # Maximum depth: 2278.918098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2238.918098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920429; longitude = -129.109220; captureRadius = 10; duration = 135; initialDepth = 2233.580742; finalDepth = 2238.918098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2238.918098 # Seafloor depth:-2278.918098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2273.580742 meters looking forward 0.000000 meters along route # Maximum depth: 2273.580742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.580742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920853; longitude = -129.108016; captureRadius = 10; duration = 135; initialDepth = 2225.664368; finalDepth = 2233.580742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2233.580742 # Seafloor depth:-2273.580742 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2265.664368 meters looking forward 0.000000 meters along route # Maximum depth: 2265.664368 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2225.664368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921278; longitude = -129.106812; captureRadius = 10; duration = 135; initialDepth = 2211.382720; finalDepth = 2225.664368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2225.664368 # Seafloor depth:-2265.664368 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2251.382720 meters looking forward 0.000000 meters along route # Maximum depth: 2251.382720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2211.382720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921702; longitude = -129.105608; captureRadius = 10; duration = 135; initialDepth = 2193.288737; finalDepth = 2211.382720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2211.38272 # Seafloor depth:-2251.382720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2233.288737 meters looking forward 0.000000 meters along route # Maximum depth: 2233.288737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2193.288737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922127; longitude = -129.104404; captureRadius = 10; duration = 135; initialDepth = 2179.101737; finalDepth = 2193.288737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2193.288737 # Seafloor depth:-2233.288737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2219.101737 meters looking forward 0.000000 meters along route # Maximum depth: 2219.101737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2179.101737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922552; longitude = -129.103200; captureRadius = 10; duration = 135; initialDepth = 2158.845396; finalDepth = 2179.101737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2179.101737 # Seafloor depth:-2219.101737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2198.845396 meters looking forward 0.000000 meters along route # Maximum depth: 2198.845396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2158.845396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922976; longitude = -129.101996; captureRadius = 10; duration = 135; initialDepth = 2142.534714; finalDepth = 2158.845396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2158.845396 # Seafloor depth:-2198.845396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2182.534714 meters looking forward 0.000000 meters along route # Maximum depth: 2182.534714 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2142.534714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923401; longitude = -129.100792; captureRadius = 10; duration = 135; initialDepth = 2124.628815; finalDepth = 2142.534714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2142.534714 # Seafloor depth:-2182.534714 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2164.628815 meters looking forward 0.000000 meters along route # Maximum depth: 2164.628815 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2124.628815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923825; longitude = -129.099588; captureRadius = 10; duration = 135; initialDepth = 2100.778281; finalDepth = 2124.628815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2124.628815 # Seafloor depth:-2164.628815 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2140.778281 meters looking forward 0.000000 meters along route # Maximum depth: 2140.778281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.778281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924250; longitude = -129.098384; captureRadius = 10; duration = 135; initialDepth = 2102.470938; finalDepth = 2100.778281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2100.778281 # Seafloor depth:-2140.778281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2142.470938 meters looking forward 0.000000 meters along route # Maximum depth: 2142.470938 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.470938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924674; longitude = -129.097179; captureRadius = 10; duration = 135; initialDepth = 2103.127075; finalDepth = 2102.470938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2102.470938 # Seafloor depth:-2142.470938 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 135.410816 meters # Minimum depth: 2143.127075 meters looking forward 0.000000 meters along route # Maximum depth: 2143.127075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2103.127075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925151; longitude = -129.095829; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2104.080495; finalDepth = 2103.127075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2103.127075 # Seafloor depth:-2143.127075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2144.080495 meters looking forward 0.000000 meters along route # Maximum depth: 2144.080495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.080495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924227; longitude = -129.096377; captureRadius = 10; duration = 135; initialDepth = 2106.199233; finalDepth = 2104.080495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2104.080495 # Seafloor depth:-2144.080495 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2146.199233 meters looking forward 0.000000 meters along route # Maximum depth: 2146.199233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.199233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922874; longitude = -129.097179; captureRadius = 10; duration = 135; initialDepth = 2110.533452; finalDepth = 2106.199233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2106.199233 # Seafloor depth:-2146.199233 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2150.533452 meters looking forward 0.000000 meters along route # Maximum depth: 2150.533452 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.533452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921521; longitude = -129.097982; captureRadius = 10; duration = 135; initialDepth = 2113.702519; finalDepth = 2110.533452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2110.533452 # Seafloor depth:-2150.533452 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2153.702519 meters looking forward 0.000000 meters along route # Maximum depth: 2153.702519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.702519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920168; longitude = -129.098785; captureRadius = 10; duration = 135; initialDepth = 2120.836074; finalDepth = 2113.702519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2113.702519 # Seafloor depth:-2153.702519 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2160.836074 meters looking forward 0.000000 meters along route # Maximum depth: 2160.836074 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2120.836074 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918815; longitude = -129.099588; captureRadius = 10; duration = 135; initialDepth = 2127.635450; finalDepth = 2120.836074; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2120.836074 # Seafloor depth:-2160.836074 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2167.635450 meters looking forward 0.000000 meters along route # Maximum depth: 2167.635450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2127.635450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917462; longitude = -129.100390; captureRadius = 10; duration = 135; initialDepth = 2140.424034; finalDepth = 2127.635450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2127.63545 # Seafloor depth:-2167.635450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2180.424034 meters looking forward 0.000000 meters along route # Maximum depth: 2180.424034 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2140.424034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916109; longitude = -129.101193; captureRadius = 10; duration = 135; initialDepth = 2151.416765; finalDepth = 2140.424034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2140.424034 # Seafloor depth:-2180.424034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2191.416765 meters looking forward 0.000000 meters along route # Maximum depth: 2191.416765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.416765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914756; longitude = -129.101996; captureRadius = 10; duration = 135; initialDepth = 2171.585100; finalDepth = 2151.416765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2151.416765 # Seafloor depth:-2191.416765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2211.585100 meters looking forward 0.000000 meters along route # Maximum depth: 2211.585100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2171.585100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913403; longitude = -129.102798; captureRadius = 10; duration = 135; initialDepth = 2196.779422; finalDepth = 2171.585100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2171.5851 # Seafloor depth:-2211.585100 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2236.779422 meters looking forward 0.000000 meters along route # Maximum depth: 2236.779422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2196.779422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912050; longitude = -129.103601; captureRadius = 10; duration = 135; initialDepth = 2214.923089; finalDepth = 2196.779422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2196.779422 # Seafloor depth:-2236.779422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2254.923089 meters looking forward 0.000000 meters along route # Maximum depth: 2254.923089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2214.923089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910697; longitude = -129.104404; captureRadius = 10; duration = 135; initialDepth = 2225.829075; finalDepth = 2214.923089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2214.923089 # Seafloor depth:-2254.923089 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2265.829075 meters looking forward 0.000000 meters along route # Maximum depth: 2265.829075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2225.829075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909344; longitude = -129.105206; captureRadius = 10; duration = 135; initialDepth = 2235.773118; finalDepth = 2225.829075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2225.829075 # Seafloor depth:-2265.829075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2275.773118 meters looking forward 0.000000 meters along route # Maximum depth: 2275.773118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2235.773118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907991; longitude = -129.106009; captureRadius = 10; duration = 135; initialDepth = 2243.022154; finalDepth = 2235.773118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2235.773118 # Seafloor depth:-2275.773118 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2283.022154 meters looking forward 0.000000 meters along route # Maximum depth: 2283.022154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.022154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906638; longitude = -129.106812; captureRadius = 10; duration = 135; initialDepth = 2247.672051; finalDepth = 2243.022154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2243.022154 # Seafloor depth:-2283.022154 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2287.672051 meters looking forward 0.000000 meters along route # Maximum depth: 2287.672051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2247.672051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905285; longitude = -129.107614; captureRadius = 10; duration = 135; initialDepth = 2264.936932; finalDepth = 2247.672051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2247.672051 # Seafloor depth:-2287.672051 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2304.936932 meters looking forward 0.000000 meters along route # Maximum depth: 2304.936932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2264.936932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903932; longitude = -129.108417; captureRadius = 10; duration = 135; initialDepth = 2272.524973; finalDepth = 2264.936932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2264.936932 # Seafloor depth:-2304.936932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2312.524973 meters looking forward 0.000000 meters along route # Maximum depth: 2312.524973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2272.524973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902579; longitude = -129.109220; captureRadius = 10; duration = 135; initialDepth = 2266.702550; finalDepth = 2272.524973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2272.524973 # Seafloor depth:-2312.524973 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2306.702550 meters looking forward 0.000000 meters along route # Maximum depth: 2306.702550 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2266.702550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901226; longitude = -129.110022; captureRadius = 10; duration = 135; initialDepth = 2247.843521; finalDepth = 2266.702550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2266.70255 # Seafloor depth:-2306.702550 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2287.843521 meters looking forward 0.000000 meters along route # Maximum depth: 2287.843521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2247.843521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899873; longitude = -129.110825; captureRadius = 10; duration = 135; initialDepth = 2220.886096; finalDepth = 2247.843521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2247.843521 # Seafloor depth:-2287.843521 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2260.886096 meters looking forward 0.000000 meters along route # Maximum depth: 2260.886096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.886096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898520; longitude = -129.111628; captureRadius = 10; duration = 135; initialDepth = 2219.603378; finalDepth = 2220.886096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2220.886096 # Seafloor depth:-2260.886096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2259.603378 meters looking forward 0.000000 meters along route # Maximum depth: 2259.603378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2219.603378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897167; longitude = -129.112430; captureRadius = 10; duration = 135; initialDepth = 2213.256280; finalDepth = 2219.603378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2219.603378 # Seafloor depth:-2259.603378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2253.256280 meters looking forward 0.000000 meters along route # Maximum depth: 2253.256280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2213.256280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895814; longitude = -129.113233; captureRadius = 10; duration = 135; initialDepth = 2224.081645; finalDepth = 2213.256280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2213.25628 # Seafloor depth:-2253.256280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2264.081645 meters looking forward 0.000000 meters along route # Maximum depth: 2264.081645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2224.081645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894461; longitude = -129.114036; captureRadius = 10; duration = 135; initialDepth = 2255.712264; finalDepth = 2224.081645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2224.081645 # Seafloor depth:-2264.081645 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2295.712264 meters looking forward 0.000000 meters along route # Maximum depth: 2295.712264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2255.712264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893108; longitude = -129.114838; captureRadius = 10; duration = 135; initialDepth = 2260.909607; finalDepth = 2255.712264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2255.712264 # Seafloor depth:-2295.712264 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2300.909607 meters looking forward 0.000000 meters along route # Maximum depth: 2300.909607 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2260.909607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891755; longitude = -129.115641; captureRadius = 10; duration = 135; initialDepth = 2277.718291; finalDepth = 2260.909607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2260.909607 # Seafloor depth:-2300.909607 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2317.718291 meters looking forward 0.000000 meters along route # Maximum depth: 2317.718291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.718291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890402; longitude = -129.116444; captureRadius = 10; duration = 135; initialDepth = 2277.528033; finalDepth = 2277.718291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2277.718291 # Seafloor depth:-2317.718291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2317.528033 meters looking forward 0.000000 meters along route # Maximum depth: 2317.528033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2277.528033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889049; longitude = -129.117246; captureRadius = 10; duration = 135; initialDepth = 2283.711013; finalDepth = 2277.528033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2277.528033 # Seafloor depth:-2317.528033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2323.711013 meters looking forward 0.000000 meters along route # Maximum depth: 2323.711013 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2283.711013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887696; longitude = -129.118049; captureRadius = 10; duration = 135; initialDepth = 2283.878910; finalDepth = 2283.711013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2283.711013 # Seafloor depth:-2323.711013 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2323.878910 meters looking forward 0.000000 meters along route # Maximum depth: 2323.878910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2283.878910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886343; longitude = -129.118852; captureRadius = 10; duration = 135; initialDepth = 2289.138150; finalDepth = 2283.878910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2283.87891 # Seafloor depth:-2323.878910 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2329.138150 meters looking forward 0.000000 meters along route # Maximum depth: 2329.138150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2289.138150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884990; longitude = -129.119654; captureRadius = 10; duration = 135; initialDepth = 2296.780223; finalDepth = 2289.138150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2289.13815 # Seafloor depth:-2329.138150 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2336.780223 meters looking forward 0.000000 meters along route # Maximum depth: 2336.780223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2296.780223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883637; longitude = -129.120457; captureRadius = 10; duration = 135; initialDepth = 2298.746582; finalDepth = 2296.780223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2296.780223 # Seafloor depth:-2336.780223 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 135.410816 meters # Minimum depth: 2338.746582 meters looking forward 0.000000 meters along route # Maximum depth: 2338.746582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2298.746582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.882521; longitude = -129.121119; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2296.412444; finalDepth = 2298.746582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2298.746582 # Seafloor depth:-2338.746582 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2336.412444 meters looking forward 0.000000 meters along route # Maximum depth: 2336.412444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2296.412444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.882666; longitude = -129.121661; captureRadius = 10; duration = 135; initialDepth = 2281.210876; finalDepth = 2296.412444; 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:2296.412444 # Seafloor depth:-2336.412444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 135.410816 meters # Minimum depth: 2321.210876 meters looking forward 0.000000 meters along route # Maximum depth: 2321.210876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2281.210876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883087; longitude = -129.123232; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2280.042341; finalDepth = 2281.210876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2281.210876 # Seafloor depth:-2321.210876 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2320.042341 meters looking forward 0.000000 meters along route # Maximum depth: 2320.042341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2280.042341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883705; longitude = -129.122865; captureRadius = 10; duration = 135; initialDepth = 2271.101898; finalDepth = 2280.042341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2280.042341 # Seafloor depth:-2320.042341 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2311.101898 meters looking forward 0.000000 meters along route # Maximum depth: 2311.101898 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2271.101898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885058; longitude = -129.122062; captureRadius = 10; duration = 135; initialDepth = 2287.576492; finalDepth = 2271.101898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2271.101898 # Seafloor depth:-2311.101898 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2327.576492 meters looking forward 0.000000 meters along route # Maximum depth: 2327.576492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2287.576492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886411; longitude = -129.121260; captureRadius = 10; duration = 135; initialDepth = 2293.748066; finalDepth = 2287.576492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2287.576492 # Seafloor depth:-2327.576492 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2333.748066 meters looking forward 0.000000 meters along route # Maximum depth: 2333.748066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2293.748066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887764; longitude = -129.120457; captureRadius = 10; duration = 135; initialDepth = 2292.954435; finalDepth = 2293.748066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2293.748066 # Seafloor depth:-2333.748066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2332.954435 meters looking forward 0.000000 meters along route # Maximum depth: 2332.954435 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2292.954435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889117; longitude = -129.119654; captureRadius = 10; duration = 135; initialDepth = 2284.344756; finalDepth = 2292.954435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2292.954435 # Seafloor depth:-2332.954435 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2324.344756 meters looking forward 0.000000 meters along route # Maximum depth: 2324.344756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2284.344756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890471; longitude = -129.118852; captureRadius = 10; duration = 135; initialDepth = 2273.670774; finalDepth = 2284.344756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2284.344756 # Seafloor depth:-2324.344756 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2313.670774 meters looking forward 0.000000 meters along route # Maximum depth: 2313.670774 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.670774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891824; longitude = -129.118049; captureRadius = 10; duration = 135; initialDepth = 2247.402653; finalDepth = 2273.670774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2273.670774 # Seafloor depth:-2313.670774 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2287.402653 meters looking forward 0.000000 meters along route # Maximum depth: 2287.402653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2247.402653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893177; longitude = -129.117246; captureRadius = 10; duration = 135; initialDepth = 2220.475828; finalDepth = 2247.402653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2247.402653 # Seafloor depth:-2287.402653 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2260.475828 meters looking forward 0.000000 meters along route # Maximum depth: 2260.475828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.475828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894530; longitude = -129.116444; captureRadius = 10; duration = 135; initialDepth = 2212.623657; finalDepth = 2220.475828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2220.475828 # Seafloor depth:-2260.475828 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2252.623657 meters looking forward 0.000000 meters along route # Maximum depth: 2252.623657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2212.623657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895883; longitude = -129.115641; captureRadius = 10; duration = 135; initialDepth = 2202.854592; finalDepth = 2212.623657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2212.623657 # Seafloor depth:-2252.623657 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2242.854592 meters looking forward 0.000000 meters along route # Maximum depth: 2242.854592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2202.854592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897236; longitude = -129.114838; captureRadius = 10; duration = 135; initialDepth = 2197.637941; finalDepth = 2202.854592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2202.854592 # Seafloor depth:-2242.854592 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2237.637941 meters looking forward 0.000000 meters along route # Maximum depth: 2237.637941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2197.637941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898589; longitude = -129.114036; captureRadius = 10; duration = 135; initialDepth = 2206.146380; finalDepth = 2197.637941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2197.637941 # Seafloor depth:-2237.637941 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2246.146380 meters looking forward 0.000000 meters along route # Maximum depth: 2246.146380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2206.146380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899942; longitude = -129.113233; captureRadius = 10; duration = 135; initialDepth = 2225.345043; finalDepth = 2206.146380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2206.14638 # Seafloor depth:-2246.146380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2265.345043 meters looking forward 0.000000 meters along route # Maximum depth: 2265.345043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2225.345043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901295; longitude = -129.112430; captureRadius = 10; duration = 135; initialDepth = 2243.718719; finalDepth = 2225.345043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2225.345043 # Seafloor depth:-2265.345043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2283.718719 meters looking forward 0.000000 meters along route # Maximum depth: 2283.718719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.718719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902648; longitude = -129.111628; captureRadius = 10; duration = 135; initialDepth = 2240.142713; finalDepth = 2243.718719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2243.718719 # Seafloor depth:-2283.718719 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2280.142713 meters looking forward 0.000000 meters along route # Maximum depth: 2280.142713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2240.142713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904001; longitude = -129.110825; captureRadius = 10; duration = 135; initialDepth = 2241.434691; finalDepth = 2240.142713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2240.142713 # Seafloor depth:-2280.142713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2281.434691 meters looking forward 0.000000 meters along route # Maximum depth: 2281.434691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2241.434691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905354; longitude = -129.110022; captureRadius = 10; duration = 135; initialDepth = 2237.622266; finalDepth = 2241.434691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2241.434691 # Seafloor depth:-2281.434691 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2277.622266 meters looking forward 0.000000 meters along route # Maximum depth: 2277.622266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2237.622266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906707; longitude = -129.109220; captureRadius = 10; duration = 135; initialDepth = 2228.852255; finalDepth = 2237.622266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2237.622266 # Seafloor depth:-2277.622266 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2268.852255 meters looking forward 0.000000 meters along route # Maximum depth: 2268.852255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2228.852255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908060; longitude = -129.108417; captureRadius = 10; duration = 135; initialDepth = 2217.885667; finalDepth = 2228.852255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2228.852255 # Seafloor depth:-2268.852255 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2257.885667 meters looking forward 0.000000 meters along route # Maximum depth: 2257.885667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2217.885667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909413; longitude = -129.107614; captureRadius = 10; duration = 135; initialDepth = 2219.188090; finalDepth = 2217.885667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2217.885667 # Seafloor depth:-2257.885667 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2259.188090 meters looking forward 0.000000 meters along route # Maximum depth: 2259.188090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2219.188090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910766; longitude = -129.106812; captureRadius = 10; duration = 135; initialDepth = 2193.819860; finalDepth = 2219.188090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2219.18809 # Seafloor depth:-2259.188090 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2233.819860 meters looking forward 0.000000 meters along route # Maximum depth: 2233.819860 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2193.819860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912120; longitude = -129.106009; captureRadius = 10; duration = 135; initialDepth = 2173.762461; finalDepth = 2193.819860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2193.81986 # Seafloor depth:-2233.819860 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2213.762461 meters looking forward 0.000000 meters along route # Maximum depth: 2213.762461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2173.762461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913473; longitude = -129.105206; captureRadius = 10; duration = 135; initialDepth = 2157.704366; finalDepth = 2173.762461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2173.762461 # Seafloor depth:-2213.762461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2197.704366 meters looking forward 0.000000 meters along route # Maximum depth: 2197.704366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.704366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914826; longitude = -129.104404; captureRadius = 10; duration = 135; initialDepth = 2146.779899; finalDepth = 2157.704366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2157.704366 # Seafloor depth:-2197.704366 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2186.779899 meters looking forward 0.000000 meters along route # Maximum depth: 2186.779899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2146.779899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916179; longitude = -129.103601; captureRadius = 10; duration = 135; initialDepth = 2137.888464; finalDepth = 2146.779899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2146.779899 # Seafloor depth:-2186.779899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2177.888464 meters looking forward 0.000000 meters along route # Maximum depth: 2177.888464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2137.888464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917532; longitude = -129.102798; captureRadius = 10; duration = 135; initialDepth = 2132.607548; finalDepth = 2137.888464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2137.888464 # Seafloor depth:-2177.888464 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2172.607548 meters looking forward 0.000000 meters along route # Maximum depth: 2172.607548 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2132.607548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918885; longitude = -129.101996; captureRadius = 10; duration = 135; initialDepth = 2123.424285; finalDepth = 2132.607548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2132.607548 # Seafloor depth:-2172.607548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2163.424285 meters looking forward 0.000000 meters along route # Maximum depth: 2163.424285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.424285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920238; longitude = -129.101193; captureRadius = 10; duration = 135; initialDepth = 2117.232886; finalDepth = 2123.424285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2123.424285 # Seafloor depth:-2163.424285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2157.232886 meters looking forward 0.000000 meters along route # Maximum depth: 2157.232886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.232886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921591; longitude = -129.100390; captureRadius = 10; duration = 135; initialDepth = 2114.132998; finalDepth = 2117.232886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2117.232886 # Seafloor depth:-2157.232886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2154.132998 meters looking forward 0.000000 meters along route # Maximum depth: 2154.132998 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.132998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922944; longitude = -129.099588; captureRadius = 10; duration = 135; initialDepth = 2107.260001; finalDepth = 2114.132998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2114.132998 # Seafloor depth:-2154.132998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2147.260001 meters looking forward 0.000000 meters along route # Maximum depth: 2147.260001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2107.260001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924297; longitude = -129.098785; captureRadius = 10; duration = 135; initialDepth = 2095.886047; finalDepth = 2107.260001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2107.260001 # Seafloor depth:-2147.260001 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 135.410816 meters # Minimum depth: 2135.886047 meters looking forward 0.000000 meters along route # Maximum depth: 2135.886047 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.886047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925718; longitude = -129.097942; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2116.219704; finalDepth = 2095.886047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2095.886047 # Seafloor depth:-2135.886047 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2167.096641 meters looking forward 0.000000 meters along route # Maximum depth: 2167.096641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2116.219704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925944; longitude = -129.098785; captureRadius = 10; duration = 135; initialDepth = 2146.886047; finalDepth = 2116.219704; 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: 50.8769368999988 # Actual altitude: 50.8769368999988 # Commanded vehicle depth:2116.2197041 # Seafloor depth:-2167.096641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 135.410816 meters # Minimum depth: 2204.976379 meters looking forward 0.000000 meters along route # Maximum depth: 2204.976379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2146.886047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926285; longitude = -129.100056; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2160.877104; finalDepth = 2146.886047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0903320000002 # Actual altitude: 58.0903320000002 # Commanded vehicle depth:2146.886047 # Seafloor depth:-2204.976379 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 232.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 135.410816 meters # Minimum depth: 2200.877104 meters looking forward 0.000000 meters along route # Maximum depth: 2200.877104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2160.877104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925721; longitude = -129.100390; captureRadius = 10; duration = 135; initialDepth = 2157.741151; finalDepth = 2160.877104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.0903320000002 # Actual altitude: 58.0903320000002 # Commanded vehicle depth:2160.877104 # Seafloor depth:-2200.877104 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 232.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 135.410816 meters # Minimum depth: 2197.741151 meters looking forward 0.000000 meters along route # Maximum depth: 2197.741151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2157.741151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924368; longitude = -129.101193; captureRadius = 10; duration = 135; initialDepth = 2159.498789; finalDepth = 2157.741151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2157.741151 # Seafloor depth:-2197.741151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2199.498789 meters looking forward 0.000000 meters along route # Maximum depth: 2199.498789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.498789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923014; longitude = -129.101996; captureRadius = 10; duration = 135; initialDepth = 2164.114968; finalDepth = 2159.498789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2159.498789 # Seafloor depth:-2199.498789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2204.114968 meters looking forward 0.000000 meters along route # Maximum depth: 2204.114968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.114968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921661; longitude = -129.102798; captureRadius = 10; duration = 135; initialDepth = 2164.264603; finalDepth = 2164.114968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2164.114968 # Seafloor depth:-2204.114968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2204.264603 meters looking forward 0.000000 meters along route # Maximum depth: 2204.264603 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.264603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920308; longitude = -129.103601; captureRadius = 10; duration = 135; initialDepth = 2167.889070; finalDepth = 2164.264603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2164.264603 # Seafloor depth:-2204.264603 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2207.889070 meters looking forward 0.000000 meters along route # Maximum depth: 2207.889070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2167.889070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918955; longitude = -129.104404; captureRadius = 10; duration = 135; initialDepth = 2175.343844; finalDepth = 2167.889070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2167.88907 # Seafloor depth:-2207.889070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2215.343844 meters looking forward 0.000000 meters along route # Maximum depth: 2215.343844 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2175.343844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917602; longitude = -129.105206; captureRadius = 10; duration = 135; initialDepth = 2180.156569; finalDepth = 2175.343844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2175.343844 # Seafloor depth:-2215.343844 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2220.156569 meters looking forward 0.000000 meters along route # Maximum depth: 2220.156569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2180.156569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916249; longitude = -129.106009; captureRadius = 10; duration = 135; initialDepth = 2184.954409; finalDepth = 2180.156569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2180.156569 # Seafloor depth:-2220.156569 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2224.954409 meters looking forward 0.000000 meters along route # Maximum depth: 2224.954409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2184.954409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914896; longitude = -129.106812; captureRadius = 10; duration = 135; initialDepth = 2188.666412; finalDepth = 2184.954409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2184.954409 # Seafloor depth:-2224.954409 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2228.666412 meters looking forward 0.000000 meters along route # Maximum depth: 2228.666412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2188.666412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913542; longitude = -129.107614; captureRadius = 10; duration = 135; initialDepth = 2184.224997; finalDepth = 2188.666412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2188.666412 # Seafloor depth:-2228.666412 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2224.224997 meters looking forward 0.000000 meters along route # Maximum depth: 2224.224997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2184.224997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912189; longitude = -129.108417; captureRadius = 10; duration = 135; initialDepth = 2203.044180; finalDepth = 2184.224997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2184.224997 # Seafloor depth:-2224.224997 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2243.044180 meters looking forward 0.000000 meters along route # Maximum depth: 2243.044180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2203.044180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910836; longitude = -129.109220; captureRadius = 10; duration = 135; initialDepth = 2208.316099; finalDepth = 2203.044180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2203.04418 # Seafloor depth:-2243.044180 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.316099 meters looking forward 0.000000 meters along route # Maximum depth: 2248.316099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.316099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909483; longitude = -129.110022; captureRadius = 10; duration = 135; initialDepth = 2213.783042; finalDepth = 2208.316099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.316099 # Seafloor depth:-2248.316099 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2253.783042 meters looking forward 0.000000 meters along route # Maximum depth: 2253.783042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2213.783042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908130; longitude = -129.110825; captureRadius = 10; duration = 135; initialDepth = 2216.795151; finalDepth = 2213.783042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2213.783042 # Seafloor depth:-2253.783042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2256.795151 meters looking forward 0.000000 meters along route # Maximum depth: 2256.795151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2216.795151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906777; longitude = -129.111628; captureRadius = 10; duration = 135; initialDepth = 2218.482515; finalDepth = 2216.795151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2216.795151 # Seafloor depth:-2256.795151 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2258.482515 meters looking forward 0.000000 meters along route # Maximum depth: 2258.482515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2218.482515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905423; longitude = -129.112430; captureRadius = 10; duration = 135; initialDepth = 2221.575065; finalDepth = 2218.482515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2218.482515 # Seafloor depth:-2258.482515 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2261.575065 meters looking forward 0.000000 meters along route # Maximum depth: 2261.575065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2221.575065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904070; longitude = -129.113233; captureRadius = 10; duration = 135; initialDepth = 2222.388212; finalDepth = 2221.575065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2221.575065 # Seafloor depth:-2261.575065 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2262.388212 meters looking forward 0.000000 meters along route # Maximum depth: 2262.388212 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2222.388212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902717; longitude = -129.114036; captureRadius = 10; duration = 135; initialDepth = 2209.627205; finalDepth = 2222.388212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2222.388212 # Seafloor depth:-2262.388212 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2249.627205 meters looking forward 0.000000 meters along route # Maximum depth: 2249.627205 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2209.627205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901364; longitude = -129.114838; captureRadius = 10; duration = 135; initialDepth = 2202.589192; finalDepth = 2209.627205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2209.627205 # Seafloor depth:-2249.627205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2242.589192 meters looking forward 0.000000 meters along route # Maximum depth: 2242.589192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2202.589192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900011; longitude = -129.115641; captureRadius = 10; duration = 135; initialDepth = 2202.456057; finalDepth = 2202.589192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2202.589192 # Seafloor depth:-2242.589192 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2242.456057 meters looking forward 0.000000 meters along route # Maximum depth: 2242.456057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2202.456057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898658; longitude = -129.116444; captureRadius = 10; duration = 135; initialDepth = 2208.637027; finalDepth = 2202.456057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2202.456057 # Seafloor depth:-2242.456057 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.637027 meters looking forward 0.000000 meters along route # Maximum depth: 2248.637027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.637027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897304; longitude = -129.117246; captureRadius = 10; duration = 135; initialDepth = 2218.868709; finalDepth = 2208.637027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.637027 # Seafloor depth:-2248.637027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2258.868709 meters looking forward 0.000000 meters along route # Maximum depth: 2258.868709 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2218.868709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895951; longitude = -129.118049; captureRadius = 10; duration = 135; initialDepth = 2241.858758; finalDepth = 2218.868709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2218.868709 # Seafloor depth:-2258.868709 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2281.858758 meters looking forward 0.000000 meters along route # Maximum depth: 2281.858758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2241.858758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894598; longitude = -129.118852; captureRadius = 10; duration = 135; initialDepth = 2244.252354; finalDepth = 2241.858758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2241.858758 # Seafloor depth:-2281.858758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2284.252354 meters looking forward 0.000000 meters along route # Maximum depth: 2284.252354 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2244.252354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893245; longitude = -129.119654; captureRadius = 10; duration = 135; initialDepth = 2274.988478; finalDepth = 2244.252354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2244.252354 # Seafloor depth:-2284.252354 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2314.988478 meters looking forward 0.000000 meters along route # Maximum depth: 2314.988478 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.988478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891892; longitude = -129.120457; captureRadius = 10; duration = 135; initialDepth = 2308.681594; finalDepth = 2274.988478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2274.988478 # Seafloor depth:-2314.988478 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2348.681594 meters looking forward 0.000000 meters along route # Maximum depth: 2348.681594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.681594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890539; longitude = -129.121260; captureRadius = 10; duration = 135; initialDepth = 2322.822070; finalDepth = 2308.681594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2308.681594 # Seafloor depth:-2348.681594 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2362.822070 meters looking forward 0.000000 meters along route # Maximum depth: 2362.822070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2322.822070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889186; longitude = -129.122062; captureRadius = 10; duration = 135; initialDepth = 2323.625311; finalDepth = 2322.822070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2322.82207 # Seafloor depth:-2362.822070 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2363.625311 meters looking forward 0.000000 meters along route # Maximum depth: 2363.625311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2323.625311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887832; longitude = -129.122865; captureRadius = 10; duration = 135; initialDepth = 2317.226786; finalDepth = 2323.625311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2323.625311 # Seafloor depth:-2363.625311 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2357.226786 meters looking forward 0.000000 meters along route # Maximum depth: 2357.226786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2317.226786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886479; longitude = -129.123668; captureRadius = 10; duration = 135; initialDepth = 2307.927361; finalDepth = 2317.226786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2317.226786 # Seafloor depth:-2357.226786 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2347.927361 meters looking forward 0.000000 meters along route # Maximum depth: 2347.927361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2307.927361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885126; longitude = -129.124470; captureRadius = 10; duration = 135; initialDepth = 2312.259277; finalDepth = 2307.927361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2307.927361 # Seafloor depth:-2347.927361 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 15 # Segment length 135.410816 meters # Minimum depth: 2352.259277 meters looking forward 0.000000 meters along route # Maximum depth: 2352.259277 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2312.259277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883654; longitude = -129.125344; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2325.102650; finalDepth = 2312.259277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2312.259277 # Seafloor depth:-2352.259277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2365.102650 meters looking forward 0.000000 meters along route # Maximum depth: 2365.102650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2325.102650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.883850; longitude = -129.126076; captureRadius = 10; duration = 135; initialDepth = 2347.854004; finalDepth = 2325.102650; 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:2325.10265 # Seafloor depth:-2365.102650 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 135.410816 meters # Minimum depth: 2387.854004 meters looking forward 0.000000 meters along route # Maximum depth: 2387.854004 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2347.854004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884220; longitude = -129.127456; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2331.556507; finalDepth = 2347.854004; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2347.854004 # Seafloor depth:-2387.854004 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2371.556507 meters looking forward 0.000000 meters along route # Maximum depth: 2371.556507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2331.556507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885194; longitude = -129.126878; captureRadius = 10; duration = 135; initialDepth = 2319.942881; finalDepth = 2331.556507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2331.556507 # Seafloor depth:-2371.556507 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2359.942881 meters looking forward 0.000000 meters along route # Maximum depth: 2359.942881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2319.942881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886547; longitude = -129.126076; captureRadius = 10; duration = 135; initialDepth = 2322.681237; finalDepth = 2319.942881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2319.942881 # Seafloor depth:-2359.942881 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2362.681237 meters looking forward 0.000000 meters along route # Maximum depth: 2362.681237 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2322.681237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887900; longitude = -129.125273; captureRadius = 10; duration = 135; initialDepth = 2321.524661; finalDepth = 2322.681237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2322.681237 # Seafloor depth:-2362.681237 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2361.524661 meters looking forward 0.000000 meters along route # Maximum depth: 2361.524661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2321.524661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889254; longitude = -129.124470; captureRadius = 10; duration = 135; initialDepth = 2313.553767; finalDepth = 2321.524661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2321.524661 # Seafloor depth:-2361.524661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2353.553767 meters looking forward 0.000000 meters along route # Maximum depth: 2353.553767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2313.553767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890607; longitude = -129.123668; captureRadius = 10; duration = 135; initialDepth = 2296.819018; finalDepth = 2313.553767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2313.553767 # Seafloor depth:-2353.553767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2336.819018 meters looking forward 0.000000 meters along route # Maximum depth: 2336.819018 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2296.819018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891960; longitude = -129.122865; captureRadius = 10; duration = 135; initialDepth = 2263.194706; finalDepth = 2296.819018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2296.819018 # Seafloor depth:-2336.819018 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2303.194706 meters looking forward 0.000000 meters along route # Maximum depth: 2303.194706 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2263.194706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893313; longitude = -129.122062; captureRadius = 10; duration = 135; initialDepth = 2246.247595; finalDepth = 2263.194706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2263.194706 # Seafloor depth:-2303.194706 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2286.247595 meters looking forward 0.000000 meters along route # Maximum depth: 2286.247595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2246.247595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894667; longitude = -129.121260; captureRadius = 10; duration = 135; initialDepth = 2226.932471; finalDepth = 2246.247595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2246.247595 # Seafloor depth:-2286.247595 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2266.932471 meters looking forward 0.000000 meters along route # Maximum depth: 2266.932471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2226.932471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896020; longitude = -129.120457; captureRadius = 10; duration = 135; initialDepth = 2213.282852; finalDepth = 2226.932471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2226.932471 # Seafloor depth:-2266.932471 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2253.282852 meters looking forward 0.000000 meters along route # Maximum depth: 2253.282852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2213.282852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897373; longitude = -129.119654; captureRadius = 10; duration = 135; initialDepth = 2208.210275; finalDepth = 2213.282852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2213.282852 # Seafloor depth:-2253.282852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.210275 meters looking forward 0.000000 meters along route # Maximum depth: 2248.210275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.210275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898726; longitude = -129.118852; captureRadius = 10; duration = 135; initialDepth = 2208.241422; finalDepth = 2208.210275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.210275 # Seafloor depth:-2248.210275 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.241422 meters looking forward 0.000000 meters along route # Maximum depth: 2248.241422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.241422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900080; longitude = -129.118049; captureRadius = 10; duration = 135; initialDepth = 2215.179540; finalDepth = 2208.241422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.241422 # Seafloor depth:-2248.241422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2255.179540 meters looking forward 0.000000 meters along route # Maximum depth: 2255.179540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2215.179540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901433; longitude = -129.117246; captureRadius = 10; duration = 135; initialDepth = 2220.386365; finalDepth = 2215.179540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2215.17954 # Seafloor depth:-2255.179540 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2260.386365 meters looking forward 0.000000 meters along route # Maximum depth: 2260.386365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.386365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902786; longitude = -129.116444; captureRadius = 10; duration = 135; initialDepth = 2220.851395; finalDepth = 2220.386365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2220.386365 # Seafloor depth:-2260.386365 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2260.851395 meters looking forward 0.000000 meters along route # Maximum depth: 2260.851395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.851395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904139; longitude = -129.115641; captureRadius = 10; duration = 135; initialDepth = 2216.584962; finalDepth = 2220.851395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2220.851395 # Seafloor depth:-2260.851395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2256.584962 meters looking forward 0.000000 meters along route # Maximum depth: 2256.584962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2216.584962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905493; longitude = -129.114838; captureRadius = 10; duration = 135; initialDepth = 2213.830922; finalDepth = 2216.584962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2216.584962 # Seafloor depth:-2256.584962 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2253.830922 meters looking forward 0.000000 meters along route # Maximum depth: 2253.830922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2213.830922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906846; longitude = -129.114036; captureRadius = 10; duration = 135; initialDepth = 2210.764754; finalDepth = 2213.830922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2213.830922 # Seafloor depth:-2253.830922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2250.764754 meters looking forward 0.000000 meters along route # Maximum depth: 2250.764754 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2210.764754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908199; longitude = -129.113233; captureRadius = 10; duration = 135; initialDepth = 2208.688976; finalDepth = 2210.764754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2210.764754 # Seafloor depth:-2250.764754 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.688976 meters looking forward 0.000000 meters along route # Maximum depth: 2248.688976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.688976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909552; longitude = -129.112430; captureRadius = 10; duration = 135; initialDepth = 2209.435673; finalDepth = 2208.688976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.688976 # Seafloor depth:-2248.688976 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2249.435673 meters looking forward 0.000000 meters along route # Maximum depth: 2249.435673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2209.435673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910906; longitude = -129.111628; captureRadius = 10; duration = 135; initialDepth = 2200.795752; finalDepth = 2209.435673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2209.435673 # Seafloor depth:-2249.435673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2240.795752 meters looking forward 0.000000 meters along route # Maximum depth: 2240.795752 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2200.795752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912259; longitude = -129.110825; captureRadius = 10; duration = 135; initialDepth = 2205.861615; finalDepth = 2200.795752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2200.795752 # Seafloor depth:-2240.795752 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2245.861615 meters looking forward 0.000000 meters along route # Maximum depth: 2245.861615 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.861615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913612; longitude = -129.110022; captureRadius = 10; duration = 135; initialDepth = 2210.614527; finalDepth = 2205.861615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2205.861615 # Seafloor depth:-2245.861615 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2250.614527 meters looking forward 0.000000 meters along route # Maximum depth: 2250.614527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2210.614527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914965; longitude = -129.109220; captureRadius = 10; duration = 135; initialDepth = 2209.912963; finalDepth = 2210.614527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2210.614527 # Seafloor depth:-2250.614527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2249.912963 meters looking forward 0.000000 meters along route # Maximum depth: 2249.912963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2209.912963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916319; longitude = -129.108417; captureRadius = 10; duration = 135; initialDepth = 2214.122075; finalDepth = 2209.912963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2209.912963 # Seafloor depth:-2249.912963 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2254.122075 meters looking forward 0.000000 meters along route # Maximum depth: 2254.122075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2214.122075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917672; longitude = -129.107614; captureRadius = 10; duration = 135; initialDepth = 2203.880797; finalDepth = 2214.122075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2214.122075 # Seafloor depth:-2254.122075 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2243.880797 meters looking forward 0.000000 meters along route # Maximum depth: 2243.880797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2203.880797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919025; longitude = -129.106812; captureRadius = 10; duration = 135; initialDepth = 2204.021321; finalDepth = 2203.880797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2203.880797 # Seafloor depth:-2243.880797 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2244.021321 meters looking forward 0.000000 meters along route # Maximum depth: 2244.021321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2204.021321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920378; longitude = -129.106009; captureRadius = 10; duration = 135; initialDepth = 2203.493832; finalDepth = 2204.021321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2204.021321 # Seafloor depth:-2244.021321 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2243.493832 meters looking forward 0.000000 meters along route # Maximum depth: 2243.493832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2203.493832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921732; longitude = -129.105206; captureRadius = 10; duration = 135; initialDepth = 2201.848977; finalDepth = 2203.493832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2203.493832 # Seafloor depth:-2243.493832 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2241.848977 meters looking forward 0.000000 meters along route # Maximum depth: 2241.848977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2201.848977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923085; longitude = -129.104404; captureRadius = 10; duration = 135; initialDepth = 2197.545442; finalDepth = 2201.848977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2201.848977 # Seafloor depth:-2241.848977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2237.545442 meters looking forward 0.000000 meters along route # Maximum depth: 2237.545442 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2197.545442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924438; longitude = -129.103601; captureRadius = 10; duration = 135; initialDepth = 2193.205299; finalDepth = 2197.545442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2197.545442 # Seafloor depth:-2237.545442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2233.205299 meters looking forward 0.000000 meters along route # Maximum depth: 2233.205299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2193.205299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925791; longitude = -129.102798; captureRadius = 10; duration = 135; initialDepth = 2190.064148; finalDepth = 2193.205299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2193.205299 # Seafloor depth:-2233.205299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 13 # Segment length 135.410816 meters # Minimum depth: 2230.064148 meters looking forward 0.000000 meters along route # Maximum depth: 2230.064148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2190.064148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926851; longitude = -129.102169; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2193.210653; finalDepth = 2190.064148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2190.064148 # Seafloor depth:-2230.064148 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2233.210653 meters looking forward 0.000000 meters along route # Maximum depth: 2233.210653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2193.210653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927020; longitude = -129.102798; captureRadius = 10; duration = 135; initialDepth = 2206.321838; finalDepth = 2193.210653; 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:2193.210653 # Seafloor depth:-2233.210653 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 135.410816 meters # Minimum depth: 2246.321838 meters looking forward 0.000000 meters along route # Maximum depth: 2246.321838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2206.321838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927418; longitude = -129.104283; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2217.697470; finalDepth = 2206.321838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2206.321838 # Seafloor depth:-2246.321838 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2257.697470 meters looking forward 0.000000 meters along route # Maximum depth: 2257.697470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2217.697470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926539; longitude = -129.104805; captureRadius = 10; duration = 135; initialDepth = 2227.362264; finalDepth = 2217.697470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2217.69747 # Seafloor depth:-2257.697470 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2267.362264 meters looking forward 0.000000 meters along route # Maximum depth: 2267.362264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2227.362264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925185; longitude = -129.105608; captureRadius = 10; duration = 135; initialDepth = 2230.203551; finalDepth = 2227.362264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2227.362264 # Seafloor depth:-2267.362264 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2270.203551 meters looking forward 0.000000 meters along route # Maximum depth: 2270.203551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2230.203551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923832; longitude = -129.106410; captureRadius = 10; duration = 135; initialDepth = 2235.348746; finalDepth = 2230.203551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2230.203551 # Seafloor depth:-2270.203551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2275.348746 meters looking forward 0.000000 meters along route # Maximum depth: 2275.348746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2235.348746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922479; longitude = -129.107213; captureRadius = 10; duration = 135; initialDepth = 2236.053168; finalDepth = 2235.348746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2235.348746 # Seafloor depth:-2275.348746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2276.053168 meters looking forward 0.000000 meters along route # Maximum depth: 2276.053168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2236.053168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921125; longitude = -129.108016; captureRadius = 10; duration = 135; initialDepth = 2234.832185; finalDepth = 2236.053168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2236.053168 # Seafloor depth:-2276.053168 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2274.832185 meters looking forward 0.000000 meters along route # Maximum depth: 2274.832185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2234.832185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919772; longitude = -129.108818; captureRadius = 10; duration = 135; initialDepth = 2235.815299; finalDepth = 2234.832185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2234.832185 # Seafloor depth:-2274.832185 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2275.815299 meters looking forward 0.000000 meters along route # Maximum depth: 2275.815299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2235.815299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918419; longitude = -129.109621; captureRadius = 10; duration = 135; initialDepth = 2233.837214; finalDepth = 2235.815299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2235.815299 # Seafloor depth:-2275.815299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2273.837214 meters looking forward 0.000000 meters along route # Maximum depth: 2273.837214 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.837214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917065; longitude = -129.110424; captureRadius = 10; duration = 135; initialDepth = 2231.785071; finalDepth = 2233.837214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2233.837214 # Seafloor depth:-2273.837214 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2271.785071 meters looking forward 0.000000 meters along route # Maximum depth: 2271.785071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2231.785071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915712; longitude = -129.111226; captureRadius = 10; duration = 135; initialDepth = 2226.815304; finalDepth = 2231.785071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2231.785071 # Seafloor depth:-2271.785071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2266.815304 meters looking forward 0.000000 meters along route # Maximum depth: 2266.815304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2226.815304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914358; longitude = -129.112029; captureRadius = 10; duration = 135; initialDepth = 2220.929770; finalDepth = 2226.815304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2226.815304 # Seafloor depth:-2266.815304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2260.929770 meters looking forward 0.000000 meters along route # Maximum depth: 2260.929770 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.929770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913005; longitude = -129.112832; captureRadius = 10; duration = 135; initialDepth = 2219.289724; finalDepth = 2220.929770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2220.92977 # Seafloor depth:-2260.929770 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2259.289724 meters looking forward 0.000000 meters along route # Maximum depth: 2259.289724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2219.289724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911652; longitude = -129.113634; captureRadius = 10; duration = 135; initialDepth = 2220.000569; finalDepth = 2219.289724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2219.289724 # Seafloor depth:-2259.289724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2260.000569 meters looking forward 0.000000 meters along route # Maximum depth: 2260.000569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.000569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910298; longitude = -129.114437; captureRadius = 10; duration = 135; initialDepth = 2221.038124; finalDepth = 2220.000569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2220.000569 # Seafloor depth:-2260.000569 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2261.038124 meters looking forward 0.000000 meters along route # Maximum depth: 2261.038124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2221.038124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908945; longitude = -129.115240; captureRadius = 10; duration = 135; initialDepth = 2222.518561; finalDepth = 2221.038124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2221.038124 # Seafloor depth:-2261.038124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2262.518561 meters looking forward 0.000000 meters along route # Maximum depth: 2262.518561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2222.518561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907592; longitude = -129.116042; captureRadius = 10; duration = 135; initialDepth = 2226.181692; finalDepth = 2222.518561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2222.518561 # Seafloor depth:-2262.518561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2266.181692 meters looking forward 0.000000 meters along route # Maximum depth: 2266.181692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2226.181692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906238; longitude = -129.116845; captureRadius = 10; duration = 135; initialDepth = 2232.457027; finalDepth = 2226.181692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2226.181692 # Seafloor depth:-2266.181692 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2272.457027 meters looking forward 0.000000 meters along route # Maximum depth: 2272.457027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2232.457027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904885; longitude = -129.117648; captureRadius = 10; duration = 135; initialDepth = 2233.702988; finalDepth = 2232.457027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2232.457027 # Seafloor depth:-2272.457027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2273.702988 meters looking forward 0.000000 meters along route # Maximum depth: 2273.702988 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.702988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903532; longitude = -129.118450; captureRadius = 10; duration = 135; initialDepth = 2231.351169; finalDepth = 2233.702988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2233.702988 # Seafloor depth:-2273.702988 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2271.351169 meters looking forward 0.000000 meters along route # Maximum depth: 2271.351169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2231.351169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902178; longitude = -129.119253; captureRadius = 10; duration = 135; initialDepth = 2227.347385; finalDepth = 2231.351169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2231.351169 # Seafloor depth:-2271.351169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2267.347385 meters looking forward 0.000000 meters along route # Maximum depth: 2267.347385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2227.347385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900825; longitude = -129.120056; captureRadius = 10; duration = 135; initialDepth = 2228.987256; finalDepth = 2227.347385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2227.347385 # Seafloor depth:-2267.347385 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2268.987256 meters looking forward 0.000000 meters along route # Maximum depth: 2268.987256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2228.987256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899472; longitude = -129.120858; captureRadius = 10; duration = 135; initialDepth = 2236.936822; finalDepth = 2228.987256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2228.987256 # Seafloor depth:-2268.987256 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2276.936822 meters looking forward 0.000000 meters along route # Maximum depth: 2276.936822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2236.936822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898118; longitude = -129.121661; captureRadius = 10; duration = 135; initialDepth = 2239.848039; finalDepth = 2236.936822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2236.936822 # Seafloor depth:-2276.936822 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2279.848039 meters looking forward 0.000000 meters along route # Maximum depth: 2279.848039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2239.848039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896765; longitude = -129.122464; captureRadius = 10; duration = 135; initialDepth = 2245.601168; finalDepth = 2239.848039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2239.848039 # Seafloor depth:-2279.848039 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2285.601168 meters looking forward 0.000000 meters along route # Maximum depth: 2285.601168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2245.601168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895412; longitude = -129.123266; captureRadius = 10; duration = 135; initialDepth = 2261.252396; finalDepth = 2245.601168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2245.601168 # Seafloor depth:-2285.601168 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2301.252396 meters looking forward 0.000000 meters along route # Maximum depth: 2301.252396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2261.252396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894058; longitude = -129.124069; captureRadius = 10; duration = 135; initialDepth = 2269.693484; finalDepth = 2261.252396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2261.252396 # Seafloor depth:-2301.252396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2309.693484 meters looking forward 0.000000 meters along route # Maximum depth: 2309.693484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2269.693484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892705; longitude = -129.124872; captureRadius = 10; duration = 135; initialDepth = 2278.972653; finalDepth = 2269.693484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2269.693484 # Seafloor depth:-2309.693484 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2318.972653 meters looking forward 0.000000 meters along route # Maximum depth: 2318.972653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.972653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891352; longitude = -129.125674; captureRadius = 10; duration = 135; initialDepth = 2296.192136; finalDepth = 2278.972653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2278.972653 # Seafloor depth:-2318.972653 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2336.192136 meters looking forward 0.000000 meters along route # Maximum depth: 2336.192136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2296.192136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889998; longitude = -129.126477; captureRadius = 10; duration = 135; initialDepth = 2303.466483; finalDepth = 2296.192136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2296.192136 # Seafloor depth:-2336.192136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2343.466483 meters looking forward 0.000000 meters along route # Maximum depth: 2343.466483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2303.466483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888645; longitude = -129.127280; captureRadius = 10; duration = 135; initialDepth = 2307.666044; finalDepth = 2303.466483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2303.466483 # Seafloor depth:-2343.466483 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2347.666044 meters looking forward 0.000000 meters along route # Maximum depth: 2347.666044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2307.666044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887292; longitude = -129.128082; captureRadius = 10; duration = 135; initialDepth = 2316.914975; finalDepth = 2307.666044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2307.666044 # Seafloor depth:-2347.666044 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2356.914975 meters looking forward 0.000000 meters along route # Maximum depth: 2356.914975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2316.914975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885938; longitude = -129.128885; captureRadius = 10; duration = 135; initialDepth = 2336.572327; finalDepth = 2316.914975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2316.914975 # Seafloor depth:-2356.914975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 135.410816 meters # Minimum depth: 2376.572327 meters looking forward 0.000000 meters along route # Maximum depth: 2376.572327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2336.572327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884787; longitude = -129.129568; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2321.936231; finalDepth = 2336.572327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2336.572327 # Seafloor depth:-2376.572327 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2361.936231 meters looking forward 0.000000 meters along route # Maximum depth: 2361.936231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2321.936231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.884926; longitude = -129.130089; captureRadius = 10; duration = 135; initialDepth = 2301.833191; finalDepth = 2321.936231; 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:2321.936231 # Seafloor depth:-2361.936231 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 135.410816 meters # Minimum depth: 2341.833191 meters looking forward 0.000000 meters along route # Maximum depth: 2341.833191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2301.833191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885353; longitude = -129.131680; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2297.507691; finalDepth = 2301.833191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2301.833191 # Seafloor depth:-2341.833191 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2337.507691 meters looking forward 0.000000 meters along route # Maximum depth: 2337.507691 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.507691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886006; longitude = -129.131293; captureRadius = 10; duration = 135; initialDepth = 2286.227724; finalDepth = 2297.507691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2297.507691 # Seafloor depth:-2337.507691 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2326.227724 meters looking forward 0.000000 meters along route # Maximum depth: 2326.227724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2286.227724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887359; longitude = -129.130491; captureRadius = 10; duration = 135; initialDepth = 2275.970842; finalDepth = 2286.227724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2286.227724 # Seafloor depth:-2326.227724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2315.970842 meters looking forward 0.000000 meters along route # Maximum depth: 2315.970842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2275.970842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888713; longitude = -129.129688; captureRadius = 10; duration = 135; initialDepth = 2265.002688; finalDepth = 2275.970842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2275.970842 # Seafloor depth:-2315.970842 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2305.002688 meters looking forward 0.000000 meters along route # Maximum depth: 2305.002688 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2265.002688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890066; longitude = -129.128885; captureRadius = 10; duration = 135; initialDepth = 2258.398883; finalDepth = 2265.002688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2265.002688 # Seafloor depth:-2305.002688 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2298.398883 meters looking forward 0.000000 meters along route # Maximum depth: 2298.398883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2258.398883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891420; longitude = -129.128082; captureRadius = 10; duration = 135; initialDepth = 2250.982527; finalDepth = 2258.398883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2258.398883 # Seafloor depth:-2298.398883 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2290.982527 meters looking forward 0.000000 meters along route # Maximum depth: 2290.982527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.982527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892773; longitude = -129.127280; captureRadius = 10; duration = 135; initialDepth = 2255.626474; finalDepth = 2250.982527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2250.982527 # Seafloor depth:-2290.982527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2295.626474 meters looking forward 0.000000 meters along route # Maximum depth: 2295.626474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2255.626474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894127; longitude = -129.126477; captureRadius = 10; duration = 135; initialDepth = 2246.181003; finalDepth = 2255.626474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2255.626474 # Seafloor depth:-2295.626474 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2286.181003 meters looking forward 0.000000 meters along route # Maximum depth: 2286.181003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2246.181003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895480; longitude = -129.125674; captureRadius = 10; duration = 135; initialDepth = 2241.506996; finalDepth = 2246.181003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2246.181003 # Seafloor depth:-2286.181003 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2281.506996 meters looking forward 0.000000 meters along route # Maximum depth: 2281.506996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2241.506996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896834; longitude = -129.124872; captureRadius = 10; duration = 135; initialDepth = 2234.390926; finalDepth = 2241.506996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2241.506996 # Seafloor depth:-2281.506996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2274.390926 meters looking forward 0.000000 meters along route # Maximum depth: 2274.390926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2234.390926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898187; longitude = -129.124069; captureRadius = 10; duration = 135; initialDepth = 2234.350672; finalDepth = 2234.390926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2234.390926 # Seafloor depth:-2274.390926 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2274.350672 meters looking forward 0.000000 meters along route # Maximum depth: 2274.350672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2234.350672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899540; longitude = -129.123266; captureRadius = 10; duration = 135; initialDepth = 2232.719555; finalDepth = 2234.350672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2234.350672 # Seafloor depth:-2274.350672 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2272.719555 meters looking forward 0.000000 meters along route # Maximum depth: 2272.719555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2232.719555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900894; longitude = -129.122464; captureRadius = 10; duration = 135; initialDepth = 2226.111166; finalDepth = 2232.719555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2232.719555 # Seafloor depth:-2272.719555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2266.111166 meters looking forward 0.000000 meters along route # Maximum depth: 2266.111166 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2226.111166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902247; longitude = -129.121661; captureRadius = 10; duration = 135; initialDepth = 2227.290335; finalDepth = 2226.111166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2226.111166 # Seafloor depth:-2266.111166 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2267.290335 meters looking forward 0.000000 meters along route # Maximum depth: 2267.290335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2227.290335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903601; longitude = -129.120858; captureRadius = 10; duration = 135; initialDepth = 2227.383574; finalDepth = 2227.290335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2227.290335 # Seafloor depth:-2267.290335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2267.383574 meters looking forward 0.000000 meters along route # Maximum depth: 2267.383574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2227.383574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904954; longitude = -129.120056; captureRadius = 10; duration = 135; initialDepth = 2227.523902; finalDepth = 2227.383574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2227.383574 # Seafloor depth:-2267.383574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2267.523902 meters looking forward 0.000000 meters along route # Maximum depth: 2267.523902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2227.523902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906308; longitude = -129.119253; captureRadius = 10; duration = 135; initialDepth = 2230.271305; finalDepth = 2227.523902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2227.523902 # Seafloor depth:-2267.523902 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2270.271305 meters looking forward 0.000000 meters along route # Maximum depth: 2270.271305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2230.271305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907661; longitude = -129.118450; captureRadius = 10; duration = 135; initialDepth = 2226.798292; finalDepth = 2230.271305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2230.271305 # Seafloor depth:-2270.271305 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2266.798292 meters looking forward 0.000000 meters along route # Maximum depth: 2266.798292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2226.798292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909014; longitude = -129.117648; captureRadius = 10; duration = 135; initialDepth = 2223.448934; finalDepth = 2226.798292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2226.798292 # Seafloor depth:-2266.798292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2263.448934 meters looking forward 0.000000 meters along route # Maximum depth: 2263.448934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2223.448934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910368; longitude = -129.116845; captureRadius = 10; duration = 135; initialDepth = 2214.724340; finalDepth = 2223.448934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2223.448934 # Seafloor depth:-2263.448934 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2254.724340 meters looking forward 0.000000 meters along route # Maximum depth: 2254.724340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2214.724340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911721; longitude = -129.116042; captureRadius = 10; duration = 135; initialDepth = 2214.633932; finalDepth = 2214.724340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2214.72434 # Seafloor depth:-2254.724340 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2254.633932 meters looking forward 0.000000 meters along route # Maximum depth: 2254.633932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2214.633932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913075; longitude = -129.115240; captureRadius = 10; duration = 135; initialDepth = 2209.726713; finalDepth = 2214.633932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2214.633932 # Seafloor depth:-2254.633932 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2249.726713 meters looking forward 0.000000 meters along route # Maximum depth: 2249.726713 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2209.726713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914428; longitude = -129.114437; captureRadius = 10; duration = 135; initialDepth = 2208.609879; finalDepth = 2209.726713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2209.726713 # Seafloor depth:-2249.726713 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.609879 meters looking forward 0.000000 meters along route # Maximum depth: 2248.609879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.609879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915782; longitude = -129.113634; captureRadius = 10; duration = 135; initialDepth = 2214.469695; finalDepth = 2208.609879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.609879 # Seafloor depth:-2248.609879 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2254.469695 meters looking forward 0.000000 meters along route # Maximum depth: 2254.469695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2214.469695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917135; longitude = -129.112832; captureRadius = 10; duration = 135; initialDepth = 2227.214834; finalDepth = 2214.469695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2214.469695 # Seafloor depth:-2254.469695 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2267.214834 meters looking forward 0.000000 meters along route # Maximum depth: 2267.214834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2227.214834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918488; longitude = -129.112029; captureRadius = 10; duration = 135; initialDepth = 2237.278758; finalDepth = 2227.214834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2227.214834 # Seafloor depth:-2267.214834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2277.278758 meters looking forward 0.000000 meters along route # Maximum depth: 2277.278758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2237.278758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919842; longitude = -129.111226; captureRadius = 10; duration = 135; initialDepth = 2242.472826; finalDepth = 2237.278758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2237.278758 # Seafloor depth:-2277.278758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2282.472826 meters looking forward 0.000000 meters along route # Maximum depth: 2282.472826 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2242.472826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921195; longitude = -129.110424; captureRadius = 10; duration = 135; initialDepth = 2234.136062; finalDepth = 2242.472826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2242.472826 # Seafloor depth:-2282.472826 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2274.136062 meters looking forward 0.000000 meters along route # Maximum depth: 2274.136062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2234.136062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922549; longitude = -129.109621; captureRadius = 10; duration = 135; initialDepth = 2218.193107; finalDepth = 2234.136062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2234.136062 # Seafloor depth:-2274.136062 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2258.193107 meters looking forward 0.000000 meters along route # Maximum depth: 2258.193107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2218.193107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923902; longitude = -129.108818; captureRadius = 10; duration = 135; initialDepth = 2208.094987; finalDepth = 2218.193107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2218.193107 # Seafloor depth:-2258.193107 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.094987 meters looking forward 0.000000 meters along route # Maximum depth: 2248.094987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.094987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925256; longitude = -129.108016; captureRadius = 10; duration = 135; initialDepth = 2206.662280; finalDepth = 2208.094987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.094987 # Seafloor depth:-2248.094987 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2246.662280 meters looking forward 0.000000 meters along route # Maximum depth: 2246.662280 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2206.662280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926609; longitude = -129.107213; captureRadius = 10; duration = 135; initialDepth = 2215.568787; finalDepth = 2206.662280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2206.66228 # Seafloor depth:-2246.662280 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 9 # Segment length 135.410816 meters # Minimum depth: 2255.568787 meters looking forward 0.000000 meters along route # Maximum depth: 2255.568787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2215.568787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927985; longitude = -129.106397; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2202.111931; finalDepth = 2215.568787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2215.568787 # Seafloor depth:-2255.568787 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2242.111931 meters looking forward 0.000000 meters along route # Maximum depth: 2242.111931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2202.111931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928204; longitude = -129.107213; captureRadius = 10; duration = 135; initialDepth = 2164.571106; finalDepth = 2202.111931; 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:2202.111931 # Seafloor depth:-2242.111931 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 135.410816 meters # Minimum depth: 2204.571106 meters looking forward 0.000000 meters along route # Maximum depth: 2204.571106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.571106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928552; longitude = -129.108511; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2166.819101; finalDepth = 2164.571106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2164.571106 # Seafloor depth:-2204.571106 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2206.819101 meters looking forward 0.000000 meters along route # Maximum depth: 2206.819101 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.819101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928033; longitude = -129.108818; captureRadius = 10; duration = 135; initialDepth = 2172.475831; finalDepth = 2166.819101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2166.819101 # Seafloor depth:-2206.819101 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2212.475831 meters looking forward 0.000000 meters along route # Maximum depth: 2212.475831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2172.475831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926680; longitude = -129.109621; captureRadius = 10; duration = 135; initialDepth = 2169.667922; finalDepth = 2172.475831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2172.475831 # Seafloor depth:-2212.475831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2209.667922 meters looking forward 0.000000 meters along route # Maximum depth: 2209.667922 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2169.667922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925326; longitude = -129.110424; captureRadius = 10; duration = 135; initialDepth = 2166.805568; finalDepth = 2169.667922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2169.667922 # Seafloor depth:-2209.667922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2206.805568 meters looking forward 0.000000 meters along route # Maximum depth: 2206.805568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.805568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923973; longitude = -129.111226; captureRadius = 10; duration = 135; initialDepth = 2175.434689; finalDepth = 2166.805568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2166.805568 # Seafloor depth:-2206.805568 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2215.434689 meters looking forward 0.000000 meters along route # Maximum depth: 2215.434689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2175.434689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922619; longitude = -129.112029; captureRadius = 10; duration = 135; initialDepth = 2185.745079; finalDepth = 2175.434689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2175.434689 # Seafloor depth:-2215.434689 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2225.745079 meters looking forward 0.000000 meters along route # Maximum depth: 2225.745079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2185.745079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921266; longitude = -129.112832; captureRadius = 10; duration = 135; initialDepth = 2188.045226; finalDepth = 2185.745079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2185.745079 # Seafloor depth:-2225.745079 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2228.045226 meters looking forward 0.000000 meters along route # Maximum depth: 2228.045226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2188.045226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919912; longitude = -129.113634; captureRadius = 10; duration = 135; initialDepth = 2193.265461; finalDepth = 2188.045226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2188.045226 # Seafloor depth:-2228.045226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2233.265461 meters looking forward 0.000000 meters along route # Maximum depth: 2233.265461 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2193.265461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918558; longitude = -129.114437; captureRadius = 10; duration = 135; initialDepth = 2203.257834; finalDepth = 2193.265461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2193.265461 # Seafloor depth:-2233.265461 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2243.257834 meters looking forward 0.000000 meters along route # Maximum depth: 2243.257834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2203.257834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917205; longitude = -129.115240; captureRadius = 10; duration = 135; initialDepth = 2197.738720; finalDepth = 2203.257834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2203.257834 # Seafloor depth:-2243.257834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2237.738720 meters looking forward 0.000000 meters along route # Maximum depth: 2237.738720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2197.738720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915851; longitude = -129.116042; captureRadius = 10; duration = 135; initialDepth = 2185.744050; finalDepth = 2197.738720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2197.73872 # Seafloor depth:-2237.738720 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2225.744050 meters looking forward 0.000000 meters along route # Maximum depth: 2225.744050 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2185.744050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914498; longitude = -129.116845; captureRadius = 10; duration = 135; initialDepth = 2178.974730; finalDepth = 2185.744050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2185.74405 # Seafloor depth:-2225.744050 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2218.974730 meters looking forward 0.000000 meters along route # Maximum depth: 2218.974730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2178.974730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913144; longitude = -129.117648; captureRadius = 10; duration = 135; initialDepth = 2187.769881; finalDepth = 2178.974730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2178.97473 # Seafloor depth:-2218.974730 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2227.769881 meters looking forward 0.000000 meters along route # Maximum depth: 2227.769881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2187.769881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911791; longitude = -129.118450; captureRadius = 10; duration = 135; initialDepth = 2197.703055; finalDepth = 2187.769881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2187.769881 # Seafloor depth:-2227.769881 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2237.703055 meters looking forward 0.000000 meters along route # Maximum depth: 2237.703055 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2197.703055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910437; longitude = -129.119253; captureRadius = 10; duration = 135; initialDepth = 2201.222299; finalDepth = 2197.703055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2197.703055 # Seafloor depth:-2237.703055 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2241.222299 meters looking forward 0.000000 meters along route # Maximum depth: 2241.222299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2201.222299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909084; longitude = -129.120056; captureRadius = 10; duration = 135; initialDepth = 2205.800091; finalDepth = 2201.222299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2201.222299 # Seafloor depth:-2241.222299 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2245.800091 meters looking forward 0.000000 meters along route # Maximum depth: 2245.800091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.800091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907730; longitude = -129.120858; captureRadius = 10; duration = 135; initialDepth = 2208.864008; finalDepth = 2205.800091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2205.800091 # Seafloor depth:-2245.800091 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2248.864008 meters looking forward 0.000000 meters along route # Maximum depth: 2248.864008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.864008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906377; longitude = -129.121661; captureRadius = 10; duration = 135; initialDepth = 2217.457150; finalDepth = 2208.864008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2208.864008 # Seafloor depth:-2248.864008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2257.457150 meters looking forward 0.000000 meters along route # Maximum depth: 2257.457150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2217.457150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905023; longitude = -129.122464; captureRadius = 10; duration = 135; initialDepth = 2233.411466; finalDepth = 2217.457150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2217.45715 # Seafloor depth:-2257.457150 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2273.411466 meters looking forward 0.000000 meters along route # Maximum depth: 2273.411466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.411466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903670; longitude = -129.123266; captureRadius = 10; duration = 135; initialDepth = 2221.094169; finalDepth = 2233.411466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2233.411466 # Seafloor depth:-2273.411466 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2261.094169 meters looking forward 0.000000 meters along route # Maximum depth: 2261.094169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2221.094169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902316; longitude = -129.124069; captureRadius = 10; duration = 135; initialDepth = 2224.431574; finalDepth = 2221.094169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2221.094169 # Seafloor depth:-2261.094169 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2264.431574 meters looking forward 0.000000 meters along route # Maximum depth: 2264.431574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2224.431574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900963; longitude = -129.124872; captureRadius = 10; duration = 135; initialDepth = 2232.629927; finalDepth = 2224.431574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2224.431574 # Seafloor depth:-2264.431574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2272.629927 meters looking forward 0.000000 meters along route # Maximum depth: 2272.629927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2232.629927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899609; longitude = -129.125674; captureRadius = 10; duration = 135; initialDepth = 2255.988390; finalDepth = 2232.629927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2232.629927 # Seafloor depth:-2272.629927 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2295.988390 meters looking forward 0.000000 meters along route # Maximum depth: 2295.988390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2255.988390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898256; longitude = -129.126477; captureRadius = 10; duration = 135; initialDepth = 2279.959644; finalDepth = 2255.988390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2255.98839 # Seafloor depth:-2295.988390 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2319.959644 meters looking forward 0.000000 meters along route # Maximum depth: 2319.959644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2279.959644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896902; longitude = -129.127280; captureRadius = 10; duration = 135; initialDepth = 2288.092175; finalDepth = 2279.959644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2279.959644 # Seafloor depth:-2319.959644 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2328.092175 meters looking forward 0.000000 meters along route # Maximum depth: 2328.092175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2288.092175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895548; longitude = -129.128082; captureRadius = 10; duration = 135; initialDepth = 2288.428162; finalDepth = 2288.092175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2288.092175 # Seafloor depth:-2328.092175 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2328.428162 meters looking forward 0.000000 meters along route # Maximum depth: 2328.428162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2288.428162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894195; longitude = -129.128885; captureRadius = 10; duration = 135; initialDepth = 2293.615134; finalDepth = 2288.428162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2288.428162 # Seafloor depth:-2328.428162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2333.615134 meters looking forward 0.000000 meters along route # Maximum depth: 2333.615134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2293.615134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892841; longitude = -129.129688; captureRadius = 10; duration = 135; initialDepth = 2297.352124; finalDepth = 2293.615134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2293.615134 # Seafloor depth:-2333.615134 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2337.352124 meters looking forward 0.000000 meters along route # Maximum depth: 2337.352124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.352124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891488; longitude = -129.130491; captureRadius = 10; duration = 135; initialDepth = 2296.181551; finalDepth = 2297.352124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2297.352124 # Seafloor depth:-2337.352124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2336.181551 meters looking forward 0.000000 meters along route # Maximum depth: 2336.181551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2296.181551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890134; longitude = -129.131293; captureRadius = 10; duration = 135; initialDepth = 2314.833948; finalDepth = 2296.181551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2296.181551 # Seafloor depth:-2336.181551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2354.833948 meters looking forward 0.000000 meters along route # Maximum depth: 2354.833948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2314.833948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888781; longitude = -129.132096; captureRadius = 10; duration = 135; initialDepth = 2328.747576; finalDepth = 2314.833948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2314.833948 # Seafloor depth:-2354.833948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2368.747576 meters looking forward 0.000000 meters along route # Maximum depth: 2368.747576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2328.747576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887427; longitude = -129.132899; captureRadius = 10; duration = 135; initialDepth = 2352.019531; finalDepth = 2328.747576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2328.747576 # Seafloor depth:-2368.747576 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 7 # Segment length 135.410816 meters # Minimum depth: 2392.019531 meters looking forward 0.000000 meters along route # Maximum depth: 2392.019531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2352.019531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.885919; longitude = -129.133793; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2341.400707; finalDepth = 2352.019531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2352.019531 # Seafloor depth:-2392.019531 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2381.400707 meters looking forward 0.000000 meters along route # Maximum depth: 2381.400707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2341.400707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886110; longitude = -129.134504; captureRadius = 10; duration = 135; initialDepth = 2312.965454; finalDepth = 2341.400707; 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:2341.400707 # Seafloor depth:-2381.400707 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 135.410816 meters # Minimum depth: 2352.965454 meters looking forward 0.000000 meters along route # Maximum depth: 2352.965454 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2312.965454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.886486; longitude = -129.135905; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2308.007977; finalDepth = 2312.965454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2312.965454 # Seafloor depth:-2352.965454 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2348.007977 meters looking forward 0.000000 meters along route # Maximum depth: 2348.007977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2308.007977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887495; longitude = -129.135307; captureRadius = 10; duration = 135; initialDepth = 2286.488042; finalDepth = 2308.007977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2308.007977 # Seafloor depth:-2348.007977 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2326.488042 meters looking forward 0.000000 meters along route # Maximum depth: 2326.488042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2286.488042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888849; longitude = -129.134504; captureRadius = 10; duration = 135; initialDepth = 2297.883350; finalDepth = 2286.488042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2286.488042 # Seafloor depth:-2326.488042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2337.883350 meters looking forward 0.000000 meters along route # Maximum depth: 2337.883350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2297.883350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890202; longitude = -129.133701; captureRadius = 10; duration = 135; initialDepth = 2295.272136; finalDepth = 2297.883350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2297.88335 # Seafloor depth:-2337.883350 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2335.272136 meters looking forward 0.000000 meters along route # Maximum depth: 2335.272136 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2295.272136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891556; longitude = -129.132899; captureRadius = 10; duration = 135; initialDepth = 2295.187138; finalDepth = 2295.272136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2295.272136 # Seafloor depth:-2335.272136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2335.187138 meters looking forward 0.000000 meters along route # Maximum depth: 2335.187138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2295.187138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892910; longitude = -129.132096; captureRadius = 10; duration = 135; initialDepth = 2279.214708; finalDepth = 2295.187138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2295.187138 # Seafloor depth:-2335.187138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2319.214708 meters looking forward 0.000000 meters along route # Maximum depth: 2319.214708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2279.214708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894263; longitude = -129.131293; captureRadius = 10; duration = 135; initialDepth = 2281.609474; finalDepth = 2279.214708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2279.214708 # Seafloor depth:-2319.214708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2321.609474 meters looking forward 0.000000 meters along route # Maximum depth: 2321.609474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2281.609474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895617; longitude = -129.130491; captureRadius = 10; duration = 135; initialDepth = 2273.262058; finalDepth = 2281.609474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2281.609474 # Seafloor depth:-2321.609474 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2313.262058 meters looking forward 0.000000 meters along route # Maximum depth: 2313.262058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2273.262058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896970; longitude = -129.129688; captureRadius = 10; duration = 135; initialDepth = 2274.018232; finalDepth = 2273.262058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2273.262058 # Seafloor depth:-2313.262058 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2314.018232 meters looking forward 0.000000 meters along route # Maximum depth: 2314.018232 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2274.018232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898324; longitude = -129.128885; captureRadius = 10; duration = 135; initialDepth = 2278.504363; finalDepth = 2274.018232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2274.018232 # Seafloor depth:-2314.018232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2318.504363 meters looking forward 0.000000 meters along route # Maximum depth: 2318.504363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2278.504363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899678; longitude = -129.128082; captureRadius = 10; duration = 135; initialDepth = 2260.210231; finalDepth = 2278.504363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2278.504363 # Seafloor depth:-2318.504363 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2300.210231 meters looking forward 0.000000 meters along route # Maximum depth: 2300.210231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2260.210231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901031; longitude = -129.127280; captureRadius = 10; duration = 135; initialDepth = 2255.133491; finalDepth = 2260.210231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2260.210231 # Seafloor depth:-2300.210231 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2295.133491 meters looking forward 0.000000 meters along route # Maximum depth: 2295.133491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2255.133491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902385; longitude = -129.126477; captureRadius = 10; duration = 135; initialDepth = 2244.191425; finalDepth = 2255.133491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2255.133491 # Seafloor depth:-2295.133491 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2284.191425 meters looking forward 0.000000 meters along route # Maximum depth: 2284.191425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2244.191425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903739; longitude = -129.125674; captureRadius = 10; duration = 135; initialDepth = 2247.318963; finalDepth = 2244.191425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2244.191425 # Seafloor depth:-2284.191425 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2287.318963 meters looking forward 0.000000 meters along route # Maximum depth: 2287.318963 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2247.318963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905092; longitude = -129.124872; captureRadius = 10; duration = 135; initialDepth = 2209.467247; finalDepth = 2247.318963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2247.318963 # Seafloor depth:-2287.318963 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2249.467247 meters looking forward 0.000000 meters along route # Maximum depth: 2249.467247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2209.467247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906446; longitude = -129.124069; captureRadius = 10; duration = 135; initialDepth = 2209.393934; finalDepth = 2209.467247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2209.467247 # Seafloor depth:-2249.467247 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2249.393934 meters looking forward 0.000000 meters along route # Maximum depth: 2249.393934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2209.393934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907799; longitude = -129.123266; captureRadius = 10; duration = 135; initialDepth = 2214.441651; finalDepth = 2209.393934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2209.393934 # Seafloor depth:-2249.393934 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2254.441651 meters looking forward 0.000000 meters along route # Maximum depth: 2254.441651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2214.441651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909153; longitude = -129.122464; captureRadius = 10; duration = 135; initialDepth = 2205.665340; finalDepth = 2214.441651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2214.441651 # Seafloor depth:-2254.441651 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2245.665340 meters looking forward 0.000000 meters along route # Maximum depth: 2245.665340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.665340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910507; longitude = -129.121661; captureRadius = 10; duration = 135; initialDepth = 2199.387129; finalDepth = 2205.665340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2205.66534 # Seafloor depth:-2245.665340 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2239.387129 meters looking forward 0.000000 meters along route # Maximum depth: 2239.387129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2199.387129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911860; longitude = -129.120858; captureRadius = 10; duration = 135; initialDepth = 2201.465838; finalDepth = 2199.387129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2199.387129 # Seafloor depth:-2239.387129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2241.465838 meters looking forward 0.000000 meters along route # Maximum depth: 2241.465838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2201.465838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913214; longitude = -129.120056; captureRadius = 10; duration = 135; initialDepth = 2205.404646; finalDepth = 2201.465838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2201.465838 # Seafloor depth:-2241.465838 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2245.404646 meters looking forward 0.000000 meters along route # Maximum depth: 2245.404646 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2205.404646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914568; longitude = -129.119253; captureRadius = 10; duration = 135; initialDepth = 2204.449796; finalDepth = 2205.404646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2205.404646 # Seafloor depth:-2245.404646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2244.449796 meters looking forward 0.000000 meters along route # Maximum depth: 2244.449796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2204.449796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915921; longitude = -129.118450; captureRadius = 10; duration = 135; initialDepth = 2196.440217; finalDepth = 2204.449796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2204.449796 # Seafloor depth:-2244.449796 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2236.440217 meters looking forward 0.000000 meters along route # Maximum depth: 2236.440217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2196.440217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917275; longitude = -129.117648; captureRadius = 10; duration = 135; initialDepth = 2194.129378; finalDepth = 2196.440217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2196.440217 # Seafloor depth:-2236.440217 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2234.129378 meters looking forward 0.000000 meters along route # Maximum depth: 2234.129378 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2194.129378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918628; longitude = -129.116845; captureRadius = 10; duration = 135; initialDepth = 2185.378635; finalDepth = 2194.129378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2194.129378 # Seafloor depth:-2234.129378 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2225.378635 meters looking forward 0.000000 meters along route # Maximum depth: 2225.378635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2185.378635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919982; longitude = -129.116042; captureRadius = 10; duration = 135; initialDepth = 2180.899302; finalDepth = 2185.378635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2185.378635 # Seafloor depth:-2225.378635 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2220.899302 meters looking forward 0.000000 meters along route # Maximum depth: 2220.899302 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2180.899302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921336; longitude = -129.115240; captureRadius = 10; duration = 135; initialDepth = 2165.142865; finalDepth = 2180.899302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2180.899302 # Seafloor depth:-2220.899302 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2205.142865 meters looking forward 0.000000 meters along route # Maximum depth: 2205.142865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2165.142865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922689; longitude = -129.114437; captureRadius = 10; duration = 135; initialDepth = 2146.301231; finalDepth = 2165.142865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2165.142865 # Seafloor depth:-2205.142865 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2186.301231 meters looking forward 0.000000 meters along route # Maximum depth: 2186.301231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2146.301231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924043; longitude = -129.113634; captureRadius = 10; duration = 135; initialDepth = 2139.841673; finalDepth = 2146.301231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2146.301231 # Seafloor depth:-2186.301231 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2179.841673 meters looking forward 0.000000 meters along route # Maximum depth: 2179.841673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2139.841673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925397; longitude = -129.112832; captureRadius = 10; duration = 135; initialDepth = 2136.651291; finalDepth = 2139.841673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2139.841673 # Seafloor depth:-2179.841673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2176.651291 meters looking forward 0.000000 meters along route # Maximum depth: 2176.651291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2136.651291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926750; longitude = -129.112029; captureRadius = 10; duration = 135; initialDepth = 2131.050282; finalDepth = 2136.651291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2136.651291 # Seafloor depth:-2176.651291 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2171.050282 meters looking forward 0.000000 meters along route # Maximum depth: 2171.050282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2131.050282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928104; longitude = -129.111226; captureRadius = 10; duration = 135; initialDepth = 2123.742432; finalDepth = 2131.050282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2131.050282 # Seafloor depth:-2171.050282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 135.410816 meters # Minimum depth: 2163.742432 meters looking forward 0.000000 meters along route # Maximum depth: 2163.742432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.742432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929119; longitude = -129.110625; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2126.083364; finalDepth = 2123.742432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2123.742432 # Seafloor depth:-2163.742432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2166.083364 meters looking forward 0.000000 meters along route # Maximum depth: 2166.083364 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2126.083364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929280; longitude = -129.111226; captureRadius = 10; duration = 135; initialDepth = 2148.415100; finalDepth = 2126.083364; 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:2126.083364 # Seafloor depth:-2166.083364 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 135.410816 meters # Minimum depth: 2188.415100 meters looking forward 0.000000 meters along route # Maximum depth: 2188.415100 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.415100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929685; longitude = -129.112738; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2148.442468; finalDepth = 2148.415100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2148.4151 # Seafloor depth:-2188.415100 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2188.442468 meters looking forward 0.000000 meters along route # Maximum depth: 2188.442468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.442468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928851; longitude = -129.113233; captureRadius = 10; duration = 135; initialDepth = 2136.363372; finalDepth = 2148.442468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2148.442468 # Seafloor depth:-2188.442468 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2176.363372 meters looking forward 0.000000 meters along route # Maximum depth: 2176.363372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2136.363372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927497; longitude = -129.114036; captureRadius = 10; duration = 135; initialDepth = 2130.350499; finalDepth = 2136.363372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2136.363372 # Seafloor depth:-2176.363372 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2170.350499 meters looking forward 0.000000 meters along route # Maximum depth: 2170.350499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.350499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926144; longitude = -129.114838; captureRadius = 10; duration = 135; initialDepth = 2125.730937; finalDepth = 2130.350499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2130.350499 # Seafloor depth:-2170.350499 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2165.730937 meters looking forward 0.000000 meters along route # Maximum depth: 2165.730937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2125.730937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924790; longitude = -129.115641; captureRadius = 10; duration = 135; initialDepth = 2117.904773; finalDepth = 2125.730937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2125.730937 # Seafloor depth:-2165.730937 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2157.904773 meters looking forward 0.000000 meters along route # Maximum depth: 2157.904773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2117.904773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.923436; longitude = -129.116444; captureRadius = 10; duration = 135; initialDepth = 2120.644048; finalDepth = 2117.904773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2117.904773 # Seafloor depth:-2157.904773 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2160.644048 meters looking forward 0.000000 meters along route # Maximum depth: 2160.644048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2120.644048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922083; longitude = -129.117246; captureRadius = 10; duration = 135; initialDepth = 2122.276701; finalDepth = 2120.644048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2120.644048 # Seafloor depth:-2160.644048 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2162.276701 meters looking forward 0.000000 meters along route # Maximum depth: 2162.276701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2122.276701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.920729; longitude = -129.118049; captureRadius = 10; duration = 135; initialDepth = 2134.343942; finalDepth = 2122.276701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2122.276701 # Seafloor depth:-2162.276701 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2174.343942 meters looking forward 0.000000 meters along route # Maximum depth: 2174.343942 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.343942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919375; longitude = -129.118852; captureRadius = 10; duration = 135; initialDepth = 2145.848598; finalDepth = 2134.343942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2134.343942 # Seafloor depth:-2174.343942 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2185.848598 meters looking forward 0.000000 meters along route # Maximum depth: 2185.848598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2145.848598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918021; longitude = -129.119654; captureRadius = 10; duration = 135; initialDepth = 2153.209096; finalDepth = 2145.848598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2145.848598 # Seafloor depth:-2185.848598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2193.209096 meters looking forward 0.000000 meters along route # Maximum depth: 2193.209096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2153.209096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.916668; longitude = -129.120457; captureRadius = 10; duration = 135; initialDepth = 2155.665157; finalDepth = 2153.209096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2153.209096 # Seafloor depth:-2193.209096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2195.665157 meters looking forward 0.000000 meters along route # Maximum depth: 2195.665157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2155.665157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915314; longitude = -129.121260; captureRadius = 10; duration = 135; initialDepth = 2162.513428; finalDepth = 2155.665157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2155.665157 # Seafloor depth:-2195.665157 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2202.513428 meters looking forward 0.000000 meters along route # Maximum depth: 2202.513428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2162.513428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913960; longitude = -129.122062; captureRadius = 10; duration = 135; initialDepth = 2159.851759; finalDepth = 2162.513428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2162.513428 # Seafloor depth:-2202.513428 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2199.851759 meters looking forward 0.000000 meters along route # Maximum depth: 2199.851759 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2159.851759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.912607; longitude = -129.122865; captureRadius = 10; duration = 135; initialDepth = 2171.951171; finalDepth = 2159.851759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2159.851759 # Seafloor depth:-2199.851759 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2211.951171 meters looking forward 0.000000 meters along route # Maximum depth: 2211.951171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2171.951171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911253; longitude = -129.123668; captureRadius = 10; duration = 135; initialDepth = 2179.470126; finalDepth = 2171.951171; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2171.951171 # Seafloor depth:-2211.951171 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2219.470126 meters looking forward 0.000000 meters along route # Maximum depth: 2219.470126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2179.470126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909899; longitude = -129.124470; captureRadius = 10; duration = 135; initialDepth = 2156.642259; finalDepth = 2179.470126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2179.470126 # Seafloor depth:-2219.470126 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2196.642259 meters looking forward 0.000000 meters along route # Maximum depth: 2196.642259 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2156.642259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.908545; longitude = -129.125273; captureRadius = 10; duration = 135; initialDepth = 2167.671182; finalDepth = 2156.642259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2156.642259 # Seafloor depth:-2196.642259 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2207.671182 meters looking forward 0.000000 meters along route # Maximum depth: 2207.671182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2167.671182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907192; longitude = -129.126076; captureRadius = 10; duration = 135; initialDepth = 2197.092387; finalDepth = 2167.671182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2167.671182 # Seafloor depth:-2207.671182 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2237.092387 meters looking forward 0.000000 meters along route # Maximum depth: 2237.092387 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2197.092387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905838; longitude = -129.126878; captureRadius = 10; duration = 135; initialDepth = 2218.906628; finalDepth = 2197.092387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2197.092387 # Seafloor depth:-2237.092387 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2258.906628 meters looking forward 0.000000 meters along route # Maximum depth: 2258.906628 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2218.906628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.904484; longitude = -129.127681; captureRadius = 10; duration = 135; initialDepth = 2224.974014; finalDepth = 2218.906628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2218.906628 # Seafloor depth:-2258.906628 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2264.974014 meters looking forward 0.000000 meters along route # Maximum depth: 2264.974014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2224.974014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903131; longitude = -129.128484; captureRadius = 10; duration = 135; initialDepth = 2229.800199; finalDepth = 2224.974014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2224.974014 # Seafloor depth:-2264.974014 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2269.800199 meters looking forward 0.000000 meters along route # Maximum depth: 2269.800199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2229.800199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901777; longitude = -129.129287; captureRadius = 10; duration = 135; initialDepth = 2243.397512; finalDepth = 2229.800199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2229.800199 # Seafloor depth:-2269.800199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2283.397512 meters looking forward 0.000000 meters along route # Maximum depth: 2283.397512 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2243.397512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.900423; longitude = -129.130089; captureRadius = 10; duration = 135; initialDepth = 2239.336046; finalDepth = 2243.397512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2243.397512 # Seafloor depth:-2283.397512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2279.336046 meters looking forward 0.000000 meters along route # Maximum depth: 2279.336046 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2239.336046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899069; longitude = -129.130892; captureRadius = 10; duration = 135; initialDepth = 2239.358273; finalDepth = 2239.336046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2239.336046 # Seafloor depth:-2279.336046 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2279.358273 meters looking forward 0.000000 meters along route # Maximum depth: 2279.358273 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2239.358273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897716; longitude = -129.131695; captureRadius = 10; duration = 135; initialDepth = 2237.126410; finalDepth = 2239.358273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2239.358273 # Seafloor depth:-2279.358273 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2277.126410 meters looking forward 0.000000 meters along route # Maximum depth: 2277.126410 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2237.126410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.896362; longitude = -129.132497; captureRadius = 10; duration = 135; initialDepth = 2250.471138; finalDepth = 2237.126410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2237.12641 # Seafloor depth:-2277.126410 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2290.471138 meters looking forward 0.000000 meters along route # Maximum depth: 2290.471138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.471138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895008; longitude = -129.133300; captureRadius = 10; duration = 135; initialDepth = 2259.734919; finalDepth = 2250.471138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2250.471138 # Seafloor depth:-2290.471138 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2299.734919 meters looking forward 0.000000 meters along route # Maximum depth: 2299.734919 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2259.734919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893655; longitude = -129.134103; captureRadius = 10; duration = 135; initialDepth = 2267.565012; finalDepth = 2259.734919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2259.734919 # Seafloor depth:-2299.734919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2307.565012 meters looking forward 0.000000 meters along route # Maximum depth: 2307.565012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2267.565012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.892301; longitude = -129.134905; captureRadius = 10; duration = 135; initialDepth = 2270.373584; finalDepth = 2267.565012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2267.565012 # Seafloor depth:-2307.565012 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2310.373584 meters looking forward 0.000000 meters along route # Maximum depth: 2310.373584 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.373584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890947; longitude = -129.135708; captureRadius = 10; duration = 135; initialDepth = 2270.249544; finalDepth = 2270.373584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2270.373584 # Seafloor depth:-2310.373584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2310.249544 meters looking forward 0.000000 meters along route # Maximum depth: 2310.249544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2270.249544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.889593; longitude = -129.136511; captureRadius = 10; duration = 135; initialDepth = 2283.379766; finalDepth = 2270.249544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2270.249544 # Seafloor depth:-2310.249544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2323.379766 meters looking forward 0.000000 meters along route # Maximum depth: 2323.379766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2283.379766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888240; longitude = -129.137313; captureRadius = 10; duration = 135; initialDepth = 2290.574463; finalDepth = 2283.379766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2283.379766 # Seafloor depth:-2323.379766 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 135.410816 meters # Minimum depth: 2330.574463 meters looking forward 0.000000 meters along route # Maximum depth: 2330.574463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2290.574463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887052; longitude = -129.138018; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2282.562200; finalDepth = 2290.574463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2290.574463 # Seafloor depth:-2330.574463 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2322.562200 meters looking forward 0.000000 meters along route # Maximum depth: 2322.562200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2282.562200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887186; longitude = -129.138517; captureRadius = 10; duration = 135; initialDepth = 2233.222168; finalDepth = 2282.562200; 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:2282.5622 # Seafloor depth:-2322.562200 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 135.410816 meters # Minimum depth: 2273.222168 meters looking forward 0.000000 meters along route # Maximum depth: 2273.222168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.222168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887618; longitude = -129.140130; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2233.673793; finalDepth = 2233.222168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2233.222168 # Seafloor depth:-2273.222168 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2281.145976 meters looking forward 0.000000 meters along route # Maximum depth: 2281.145976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.673793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.887631; longitude = -129.140123; captureRadius = 10; duration = 135; initialDepth = 2235.679789; finalDepth = 2233.673793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4721832 # Actual altitude: 50 # Commanded vehicle depth:2233.6737928 # Seafloor depth:-2281.145976 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2275.679789 meters looking forward 0.000000 meters along route # Maximum depth: 2275.679789 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2235.679789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.888978; longitude = -129.139320; captureRadius = 10; duration = 135; initialDepth = 2220.079006; finalDepth = 2235.679789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4721832 # Actual altitude: 50 # Commanded vehicle depth:2235.679789 # Seafloor depth:-2275.679789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2260.079006 meters looking forward 0.000000 meters along route # Maximum depth: 2260.079006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2220.079006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.890326; longitude = -129.138517; captureRadius = 10; duration = 135; initialDepth = 2194.949850; finalDepth = 2220.079006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2220.079006 # Seafloor depth:-2260.079006 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2234.949850 meters looking forward 0.000000 meters along route # Maximum depth: 2234.949850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2194.949850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.891674; longitude = -129.137715; captureRadius = 10; duration = 135; initialDepth = 2164.164337; finalDepth = 2194.949850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2194.94985 # Seafloor depth:-2234.949850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2204.164337 meters looking forward 0.000000 meters along route # Maximum depth: 2204.164337 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.164337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.893022; longitude = -129.136912; captureRadius = 10; duration = 135; initialDepth = 2166.369645; finalDepth = 2164.164337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2164.164337 # Seafloor depth:-2204.164337 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2206.369645 meters looking forward 0.000000 meters along route # Maximum depth: 2206.369645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.369645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.894369; longitude = -129.136109; captureRadius = 10; duration = 135; initialDepth = 2149.837555; finalDepth = 2166.369645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2166.369645 # Seafloor depth:-2206.369645 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2189.837555 meters looking forward 0.000000 meters along route # Maximum depth: 2189.837555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2149.837555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.895717; longitude = -129.135307; captureRadius = 10; duration = 135; initialDepth = 2153.081392; finalDepth = 2149.837555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2149.837555 # Seafloor depth:-2189.837555 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2193.081392 meters looking forward 0.000000 meters along route # Maximum depth: 2193.081392 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2153.081392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.897065; longitude = -129.134504; captureRadius = 10; duration = 135; initialDepth = 2151.704767; finalDepth = 2153.081392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2153.081392 # Seafloor depth:-2193.081392 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2191.704767 meters looking forward 0.000000 meters along route # Maximum depth: 2191.704767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.704767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.898413; longitude = -129.133701; captureRadius = 10; duration = 135; initialDepth = 2143.974165; finalDepth = 2151.704767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2151.704767 # Seafloor depth:-2191.704767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2183.974165 meters looking forward 0.000000 meters along route # Maximum depth: 2183.974165 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2143.974165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.899760; longitude = -129.132899; captureRadius = 10; duration = 135; initialDepth = 2155.734376; finalDepth = 2143.974165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2143.974165 # Seafloor depth:-2183.974165 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2195.734376 meters looking forward 0.000000 meters along route # Maximum depth: 2195.734376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2155.734376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.901108; longitude = -129.132096; captureRadius = 10; duration = 135; initialDepth = 2141.200106; finalDepth = 2155.734376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2155.734376 # Seafloor depth:-2195.734376 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2181.200106 meters looking forward 0.000000 meters along route # Maximum depth: 2181.200106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2141.200106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.902456; longitude = -129.131293; captureRadius = 10; duration = 135; initialDepth = 2148.784248; finalDepth = 2141.200106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2141.200106 # Seafloor depth:-2181.200106 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2188.784248 meters looking forward 0.000000 meters along route # Maximum depth: 2188.784248 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.784248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.903804; longitude = -129.130491; captureRadius = 10; duration = 135; initialDepth = 2145.498837; finalDepth = 2148.784248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2148.784248 # Seafloor depth:-2188.784248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2185.498837 meters looking forward 0.000000 meters along route # Maximum depth: 2185.498837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2145.498837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.905152; longitude = -129.129688; captureRadius = 10; duration = 135; initialDepth = 2115.831331; finalDepth = 2145.498837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2145.498837 # Seafloor depth:-2185.498837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2155.831331 meters looking forward 0.000000 meters along route # Maximum depth: 2155.831331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2115.831331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.906499; longitude = -129.128885; captureRadius = 10; duration = 135; initialDepth = 2077.543404; finalDepth = 2115.831331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2115.831331 # Seafloor depth:-2155.831331 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2117.543404 meters looking forward 0.000000 meters along route # Maximum depth: 2117.543404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.543404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.907847; longitude = -129.128082; captureRadius = 10; duration = 135; initialDepth = 2074.984474; finalDepth = 2077.543404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2077.543404 # Seafloor depth:-2117.543404 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2114.984474 meters looking forward 0.000000 meters along route # Maximum depth: 2114.984474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.984474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.909195; longitude = -129.127280; captureRadius = 10; duration = 135; initialDepth = 2106.759851; finalDepth = 2074.984474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2074.984474 # Seafloor depth:-2114.984474 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2146.759851 meters looking forward 0.000000 meters along route # Maximum depth: 2146.759851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2106.759851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.910543; longitude = -129.126477; captureRadius = 10; duration = 135; initialDepth = 2115.456976; finalDepth = 2106.759851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2106.759851 # Seafloor depth:-2146.759851 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2155.456976 meters looking forward 0.000000 meters along route # Maximum depth: 2155.456976 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2115.456976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.911890; longitude = -129.125674; captureRadius = 10; duration = 135; initialDepth = 2110.198741; finalDepth = 2115.456976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2115.456976 # Seafloor depth:-2155.456976 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2150.198741 meters looking forward 0.000000 meters along route # Maximum depth: 2150.198741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.198741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.913238; longitude = -129.124872; captureRadius = 10; duration = 135; initialDepth = 2112.083842; finalDepth = 2110.198741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2110.198741 # Seafloor depth:-2150.198741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2152.083842 meters looking forward 0.000000 meters along route # Maximum depth: 2152.083842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2112.083842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.914586; longitude = -129.124069; captureRadius = 10; duration = 135; initialDepth = 2119.114272; finalDepth = 2112.083842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2112.083842 # Seafloor depth:-2152.083842 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2159.114272 meters looking forward 0.000000 meters along route # Maximum depth: 2159.114272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2119.114272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.915934; longitude = -129.123266; captureRadius = 10; duration = 135; initialDepth = 2114.539858; finalDepth = 2119.114272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2119.114272 # Seafloor depth:-2159.114272 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2154.539858 meters looking forward 0.000000 meters along route # Maximum depth: 2154.539858 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.539858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.917281; longitude = -129.122464; captureRadius = 10; duration = 135; initialDepth = 2110.657156; finalDepth = 2114.539858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2114.539858 # Seafloor depth:-2154.539858 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2150.657156 meters looking forward 0.000000 meters along route # Maximum depth: 2150.657156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2110.657156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.918629; longitude = -129.121661; captureRadius = 10; duration = 135; initialDepth = 2102.173290; finalDepth = 2110.657156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2110.657156 # Seafloor depth:-2150.657156 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2142.173290 meters looking forward 0.000000 meters along route # Maximum depth: 2142.173290 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.173290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.919977; longitude = -129.120858; captureRadius = 10; duration = 135; initialDepth = 2096.390954; finalDepth = 2102.173290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2102.17329 # Seafloor depth:-2142.173290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2136.390954 meters looking forward 0.000000 meters along route # Maximum depth: 2136.390954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2096.390954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.921325; longitude = -129.120056; captureRadius = 10; duration = 135; initialDepth = 2089.961782; finalDepth = 2096.390954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2096.390954 # Seafloor depth:-2136.390954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2129.961782 meters looking forward 0.000000 meters along route # Maximum depth: 2129.961782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.961782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.922673; longitude = -129.119253; captureRadius = 10; duration = 135; initialDepth = 2091.005238; finalDepth = 2089.961782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2089.961782 # Seafloor depth:-2129.961782 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2131.005238 meters looking forward 0.000000 meters along route # Maximum depth: 2131.005238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2091.005238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.924020; longitude = -129.118450; captureRadius = 10; duration = 135; initialDepth = 2090.569236; finalDepth = 2091.005238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2091.005238 # Seafloor depth:-2131.005238 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2130.569236 meters looking forward 0.000000 meters along route # Maximum depth: 2130.569236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2090.569236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.925368; longitude = -129.117648; captureRadius = 10; duration = 135; initialDepth = 2086.981590; finalDepth = 2090.569236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2090.569236 # Seafloor depth:-2130.569236 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2126.981590 meters looking forward 0.000000 meters along route # Maximum depth: 2126.981590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2086.981590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926716; longitude = -129.116845; captureRadius = 10; duration = 135; initialDepth = 2077.815508; finalDepth = 2086.981590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2086.98159 # Seafloor depth:-2126.981590 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2117.815508 meters looking forward 0.000000 meters along route # Maximum depth: 2117.815508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.815508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928064; longitude = -129.116042; captureRadius = 10; duration = 135; initialDepth = 2077.560186; finalDepth = 2077.815508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2077.815508 # Seafloor depth:-2117.815508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2117.560186 meters looking forward 0.000000 meters along route # Maximum depth: 2117.560186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2077.560186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929411; longitude = -129.115240; captureRadius = 10; duration = 135; initialDepth = 2079.875326; finalDepth = 2077.560186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2077.560186 # Seafloor depth:-2117.560186 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 135.410816 meters # Minimum depth: 2119.875326 meters looking forward 0.000000 meters along route # Maximum depth: 2119.875326 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2079.875326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930310; longitude = -129.114705; captureRadius = 10; duration = 135; # abortOnTimeout = True; initialDepth = 2089.448228; finalDepth = 2079.875326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2079.875326 # Seafloor depth:-2119.875326 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2129.448228 meters looking forward 0.000000 meters along route # Maximum depth: 2129.448228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2089.448228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930925; longitude = -129.114036; captureRadius = 10; duration = 135; initialDepth = 2100.357805; finalDepth = 2089.448228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2089.448228 # Seafloor depth:-2129.448228 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2140.357805 meters looking forward 0.000000 meters along route # Maximum depth: 2140.357805 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2100.357805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931662; longitude = -129.113233; captureRadius = 10; duration = 135; initialDepth = 2109.455851; finalDepth = 2100.357805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2100.357805 # Seafloor depth:-2140.357805 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2149.455851 meters looking forward 0.000000 meters along route # Maximum depth: 2149.455851 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2109.455851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932400; longitude = -129.112430; captureRadius = 10; duration = 135; initialDepth = 2118.436536; finalDepth = 2109.455851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2109.455851 # Seafloor depth:-2149.455851 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2158.436536 meters looking forward 0.000000 meters along route # Maximum depth: 2158.436536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2118.436536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933138; longitude = -129.111628; captureRadius = 10; duration = 135; initialDepth = 2121.918873; finalDepth = 2118.436536; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2118.436536 # Seafloor depth:-2158.436536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2161.918873 meters looking forward 0.000000 meters along route # Maximum depth: 2161.918873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2121.918873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933875; longitude = -129.110825; captureRadius = 10; duration = 135; initialDepth = 2119.765395; finalDepth = 2121.918873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2121.918873 # Seafloor depth:-2161.918873 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2159.765395 meters looking forward 0.000000 meters along route # Maximum depth: 2159.765395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2119.765395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934613; longitude = -129.110022; captureRadius = 10; duration = 135; initialDepth = 2123.926352; finalDepth = 2119.765395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2119.765395 # Seafloor depth:-2159.765395 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2163.926352 meters looking forward 0.000000 meters along route # Maximum depth: 2163.926352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2123.926352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935350; longitude = -129.109220; captureRadius = 10; duration = 135; initialDepth = 2129.921511; finalDepth = 2123.926352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2123.926352 # Seafloor depth:-2163.926352 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2169.921511 meters looking forward 0.000000 meters along route # Maximum depth: 2169.921511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2129.921511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936088; longitude = -129.108417; captureRadius = 10; duration = 135; initialDepth = 2135.329005; finalDepth = 2129.921511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2129.921511 # Seafloor depth:-2169.921511 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2175.329005 meters looking forward 0.000000 meters along route # Maximum depth: 2175.329005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2135.329005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936826; longitude = -129.107614; captureRadius = 10; duration = 135; initialDepth = 2140.319605; finalDepth = 2135.329005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2135.329005 # Seafloor depth:-2175.329005 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2180.319605 meters looking forward 0.000000 meters along route # Maximum depth: 2180.319605 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2140.319605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937563; longitude = -129.106812; captureRadius = 10; duration = 135; initialDepth = 2142.964893; finalDepth = 2140.319605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2140.319605 # Seafloor depth:-2180.319605 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2182.964893 meters looking forward 0.000000 meters along route # Maximum depth: 2182.964893 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2142.964893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938301; longitude = -129.106009; captureRadius = 10; duration = 135; initialDepth = 2145.241434; finalDepth = 2142.964893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2142.964893 # Seafloor depth:-2182.964893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2185.241434 meters looking forward 0.000000 meters along route # Maximum depth: 2185.241434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2145.241434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939039; longitude = -129.105206; captureRadius = 10; duration = 135; initialDepth = 2145.083726; finalDepth = 2145.241434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2145.241434 # Seafloor depth:-2185.241434 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2185.083726 meters looking forward 0.000000 meters along route # Maximum depth: 2185.083726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2145.083726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939776; longitude = -129.104404; captureRadius = 10; duration = 135; initialDepth = 2143.868508; finalDepth = 2145.083726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2145.083726 # Seafloor depth:-2185.083726 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2183.868508 meters looking forward 0.000000 meters along route # Maximum depth: 2183.868508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2143.868508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940514; longitude = -129.103601; captureRadius = 10; duration = 135; initialDepth = 2142.946642; finalDepth = 2143.868508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2143.868508 # Seafloor depth:-2183.868508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2182.946642 meters looking forward 0.000000 meters along route # Maximum depth: 2182.946642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2142.946642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941252; longitude = -129.102798; captureRadius = 10; duration = 135; initialDepth = 2146.070103; finalDepth = 2142.946642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2142.946642 # Seafloor depth:-2182.946642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2186.070103 meters looking forward 0.000000 meters along route # Maximum depth: 2186.070103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2146.070103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941989; longitude = -129.101996; captureRadius = 10; duration = 135; initialDepth = 2148.121515; finalDepth = 2146.070103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2146.070103 # Seafloor depth:-2186.070103 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2188.121515 meters looking forward 0.000000 meters along route # Maximum depth: 2188.121515 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2148.121515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942727; longitude = -129.101193; captureRadius = 10; duration = 135; initialDepth = 2164.060087; finalDepth = 2148.121515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2148.121515 # Seafloor depth:-2188.121515 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2204.060087 meters looking forward 0.000000 meters along route # Maximum depth: 2204.060087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.060087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943465; longitude = -129.100390; captureRadius = 10; duration = 135; initialDepth = 2168.357396; finalDepth = 2164.060087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2164.060087 # Seafloor depth:-2204.060087 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2208.357396 meters looking forward 0.000000 meters along route # Maximum depth: 2208.357396 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2168.357396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944202; longitude = -129.099588; captureRadius = 10; duration = 135; initialDepth = 2171.255682; finalDepth = 2168.357396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2168.357396 # Seafloor depth:-2208.357396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2211.255682 meters looking forward 0.000000 meters along route # Maximum depth: 2211.255682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2171.255682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944940; longitude = -129.098785; captureRadius = 10; duration = 135; initialDepth = 2176.447385; finalDepth = 2171.255682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2171.255682 # Seafloor depth:-2211.255682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2216.447385 meters looking forward 0.000000 meters along route # Maximum depth: 2216.447385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2176.447385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945677; longitude = -129.097982; captureRadius = 10; duration = 135; initialDepth = 2176.956355; finalDepth = 2176.447385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2176.447385 # Seafloor depth:-2216.447385 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_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 135.410816 meters # Minimum depth: 2216.956355 meters looking forward 0.000000 meters along route # Maximum depth: 2216.956355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 2367.019531 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2176.956355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946415; longitude = -129.097179; captureRadius = 10; duration = 135; initialDepth = 2176.733887; finalDepth = 2176.956355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:2176.956355 # Seafloor depth:-2216.956355 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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:2176.733887 # Seafloor depth:-2216.733887 # 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 = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 135.410816 meters # Minimum depth: 2216.733887 meters looking forward 0.000000 meters along route # Maximum depth: 2216.733887 meters looking forward 0.000000 meters along route # Vehicle depth: 2176.733887 meters behavior waypoint { latitude = 47.947399; longitude = -129.096109; captureRadius = 10; duration = 544; depth = 2176.733887; 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 2176.733887 meters set by local depth and desired altitude behavior descend { duration = 6379; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 2147.0; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 135.410816 meters # Minimum depth: 2216.733887 meters looking forward 0.000000 meters along route # Maximum depth: 2216.733887 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 47.947399; longitude = -129.096109; 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 = 216.252228; 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 = 216.252228; 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 = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################