# 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_2v4n.rte # Mission File: Endeavour2008_2v4n.cfg # Distance: 80873.912250 (m) # Estimated Time: 57869 (s) 16.075 (hr) # Abort Time: 60377 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2622 (s) # Way Points: 30 # Route Points: 763 # 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: 65 (m) # Minimum Vehicle Altitude: 40 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 2230.397873 (m) # Abort Vehicle Depth: 2250.397873 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (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 -129.087681 47.970603 -2167.222290 0.000000 3 # 1 -129.091026 47.970783 -2151.977539 250.463675 3 # 2 -129.115407 47.929689 -2115.025818 5167.286324 4 # 3 -129.113291 47.929125 -2183.749817 5337.322394 3 # 4 -129.088948 47.970319 -2163.728271 10263.429860 4 # 5 -129.086831 47.969754 -2172.024292 10433.461316 3 # 6 -129.111176 47.928560 -2167.945679 15359.630634 4 # 7 -129.109061 47.927996 -2202.612305 15529.600450 3 # 8 -129.084714 47.969189 -2177.774475 20455.728324 4 # 9 -129.082598 47.968625 -2142.704041 20625.652574 3 # 10 -129.106945 47.927432 -2246.367065 25551.787190 4 # 11 -129.104830 47.926868 -2258.860352 25721.760184 3 # 12 -129.054905 48.011256 -2200.311035 35814.229377 4 # 13 -129.057179 48.011886 -2190.252014 35997.708602 3 # 14 -129.083266 47.967365 -2142.510132 41315.054944 4 # 15 -129.085273 47.968175 -2183.600037 41489.831835 3 # 16 -129.059186 48.012426 -2169.908325 46779.254232 4 # 17 -129.061193 48.012965 -2198.161621 46940.474539 3 # 18 -129.087414 47.968625 -2169.713440 52242.770321 4 # 19 -129.089688 47.968984 -2170.281738 52417.129795 3 # 20 -129.063333 48.013415 -2196.167480 57732.512584 4 # 21 -129.065608 48.014045 -2164.667603 57916.054221 3 # 22 -129.091695 47.969794 -2152.174377 63205.455864 4 # 23 -129.093835 47.970244 -2085.396545 63372.830402 3 # 24 -129.067748 48.014494 -2171.423157 68662.122960 4 # 25 -129.070022 48.015124 -2177.328247 68845.592407 3 # 26 -129.096109 47.970603 -2078.717468 74162.897508 3 # 27 -129.068952 47.984274 -2132.084351 76695.918615 3 # 28 -129.080190 48.002892 -2143.403320 78928.625571 3 # 29 -129.055173 48.007839 -2185.189514 80873.912250 4 # # A total of 763 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 80873.912250 #define MISSION_TIME 57869 #define MISSION_TIMEOUT 60377 #define DEPTH_MAX 2230.397873 #define DEPTH_ABORT 2250.397873 #define ALTITUDE_DESIRED 65.000000 #define ALTITUDE_MIN 40.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 2092.222290 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2622; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 104.851211 meters # Minimum depth: 2185.160966 meters looking forward 200.000000 meters along route # Maximum depth: 2191.578428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.160966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007839; longitude = -129.055173; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2120.160966; finalDepth = 2120.160966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0285480000002 # Actual altitude: 65.0285480000002 # Commanded vehicle depth:2120.160966 # Seafloor depth:-2185.189514 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 260.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.01; MB_Bottom_Detect_Filter_Max_Range = 260.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2185.160966 meters looking forward 200.000000 meters along route # Maximum depth: 2198.700140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.160966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007671; longitude = -129.056024; captureRadius = 10; duration = 104; initialDepth = 2129.011351; finalDepth = 2120.160966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.6570959999999 # Actual altitude: 72.6570959999999 # Commanded vehicle depth:2120.160966 # Seafloor depth:-2192.818062 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.53; MB_Bottom_Detect_Filter_Max_Range = 290.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2194.011351 meters looking forward 200.000000 meters along route # Maximum depth: 2200.765445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.011351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007406; longitude = -129.057362; captureRadius = 10; duration = 104; initialDepth = 2130.168174; finalDepth = 2129.011351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.6570959999999 # Actual altitude: 72.6570959999999 # Commanded vehicle depth:2129.011351 # Seafloor depth:-2199.009604 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.53; MB_Bottom_Detect_Filter_Max_Range = 290.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2195.168174 meters looking forward 200.000000 meters along route # Maximum depth: 2200.858676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.168174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007141; longitude = -129.058701; captureRadius = 10; duration = 104; initialDepth = 2125.702580; finalDepth = 2130.168174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6905019999999 # Actual altitude: 70.6905019999999 # Commanded vehicle depth:2130.168174 # Seafloor depth:-2200.858676 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.14; MB_Bottom_Detect_Filter_Max_Range = 282.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2190.702580 meters looking forward 200.000000 meters along route # Maximum depth: 2200.721599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.702580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006877; longitude = -129.060039; captureRadius = 10; duration = 104; initialDepth = 2125.201661; finalDepth = 2125.702580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6905019999999 # Actual altitude: 70.6905019999999 # Commanded vehicle depth:2125.70258 # Seafloor depth:-2194.672884 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.14; MB_Bottom_Detect_Filter_Max_Range = 282.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2190.201661 meters looking forward 200.000000 meters along route # Maximum depth: 2194.257327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.201661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006612; longitude = -129.061377; captureRadius = 10; duration = 104; initialDepth = 2125.201661; finalDepth = 2125.201661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9703039999999 # Actual altitude: 68.9703039999999 # Commanded vehicle depth:2125.201661 # Seafloor depth:-2190.416458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2190.201661 meters looking forward 200.000000 meters along route # Maximum depth: 2197.292791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.201661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006347; longitude = -129.062716; captureRadius = 10; duration = 104; initialDepth = 2126.905547; finalDepth = 2125.201661; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.227934 # Actual altitude: 69.227934 # Commanded vehicle depth:2125.201661 # Seafloor depth:-2194.429595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.91; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 276.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2191.905547 meters looking forward 200.000000 meters along route # Maximum depth: 2197.292791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.905547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006083; longitude = -129.064054; captureRadius = 10; duration = 104; initialDepth = 2126.905547; finalDepth = 2126.905547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.244017 # Actual altitude: 69.244017 # Commanded vehicle depth:2126.905547 # Seafloor depth:-2196.149564 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 276.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2191.905547 meters looking forward 200.000000 meters along route # Maximum depth: 2195.537266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.905547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005818; longitude = -129.065392; captureRadius = 10; duration = 104; initialDepth = 2119.288589; finalDepth = 2126.905547; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.244017 # Actual altitude: 69.244017 # Commanded vehicle depth:2126.905547 # Seafloor depth:-2192.000644 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 276.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2184.288589 meters looking forward 200.000000 meters along route # Maximum depth: 2192.585276 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.288589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005554; longitude = -129.066731; captureRadius = 10; duration = 104; initialDepth = 2097.977033; finalDepth = 2119.288589; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.6672640000002 # Actual altitude: 72.6672640000002 # Commanded vehicle depth:2119.288589 # Seafloor depth:-2191.955853 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.53; MB_Bottom_Detect_Filter_Max_Range = 290.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2162.977033 meters looking forward 200.000000 meters along route # Maximum depth: 2191.591077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.977033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005289; longitude = -129.068069; captureRadius = 10; duration = 104; initialDepth = 2080.142001; finalDepth = 2097.977033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5697540000001 # Actual altitude: 84.5697540000001 # Commanded vehicle depth:2097.977033 # Seafloor depth:-2182.546787 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2145.142001 meters looking forward 200.000000 meters along route # Maximum depth: 2180.656370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.142001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005024; longitude = -129.069407; captureRadius = 10; duration = 104; initialDepth = 2073.955079; finalDepth = 2080.142001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5697540000001 # Actual altitude: 84.5697540000001 # Commanded vehicle depth:2080.142001 # Seafloor depth:-2161.046759 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2138.955079 meters looking forward 200.000000 meters along route # Maximum depth: 2159.377890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.955079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004760; longitude = -129.070746; captureRadius = 10; duration = 104; initialDepth = 2073.946357; finalDepth = 2073.955079; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9047579999997 # Actual altitude: 80.9047579999997 # Commanded vehicle depth:2073.955079 # Seafloor depth:-2143.885153 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 323.62; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 323.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2138.946357 meters looking forward 200.000000 meters along route # Maximum depth: 2142.886377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.946357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004495; longitude = -129.072084; captureRadius = 10; duration = 104; initialDepth = 2070.571349; finalDepth = 2073.946357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9300740000003 # Actual altitude: 69.9300740000003 # Commanded vehicle depth:2073.946357 # Seafloor depth:-2138.946357 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.72; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.99; MB_Bottom_Detect_Filter_Max_Range = 279.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2135.571349 meters looking forward 200.000000 meters along route # Maximum depth: 2140.706641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.571349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004230; longitude = -129.073423; captureRadius = 10; duration = 104; initialDepth = 2070.447263; finalDepth = 2070.571349; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.65661 # Actual altitude: 69.65661 # Commanded vehicle depth:2070.571349 # Seafloor depth:-2140.227959 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2135.447263 meters looking forward 200.000000 meters along route # Maximum depth: 2139.786086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.447263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003966; longitude = -129.074761; captureRadius = 10; duration = 104; initialDepth = 2070.447263; finalDepth = 2070.447263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.65661 # Actual altitude: 69.65661 # Commanded vehicle depth:2070.447263 # Seafloor depth:-2135.476230 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2135.447263 meters looking forward 200.000000 meters along route # Maximum depth: 2138.256302 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.447263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003701; longitude = -129.076099; captureRadius = 10; duration = 104; initialDepth = 2072.212760; finalDepth = 2070.447263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4737340000001 # Actual altitude: 66.4737340000001 # Commanded vehicle depth:2070.447263 # Seafloor depth:-2136.920997 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.89; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.29; MB_Bottom_Detect_Filter_Max_Range = 265.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2137.212760 meters looking forward 200.000000 meters along route # Maximum depth: 2140.537138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.212760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003436; longitude = -129.077438; captureRadius = 10; duration = 104; initialDepth = 2073.668458; finalDepth = 2072.212760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4737340000001 # Actual altitude: 66.4737340000001 # Commanded vehicle depth:2072.21276 # Seafloor depth:-2138.339741 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.89; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.29; MB_Bottom_Detect_Filter_Max_Range = 265.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 104.851211 meters # Minimum depth: 2138.668458 meters looking forward 200.000000 meters along route # Maximum depth: 2143.425525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.668458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003172; longitude = -129.078776; captureRadius = 10; duration = 104; initialDepth = 2074.477057; finalDepth = 2073.668458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0513849999998 # Actual altitude: 67.0513849999998 # Commanded vehicle depth:2073.668458 # Seafloor depth:-2140.719843 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 104.851211 meters # Minimum depth: 2139.477057 meters looking forward 200.000000 meters along route # Maximum depth: 2143.425525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.477057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002892; longitude = -129.080190; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2065.186745; finalDepth = 2074.477057; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9262629999998 # Actual altitude: 68.9262629999998 # Commanded vehicle depth:2074.477057 # Seafloor depth:-2143.403320 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2130.186745 meters looking forward 200.000000 meters along route # Maximum depth: 2142.784949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.186745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002101; longitude = -129.079713; captureRadius = 10; duration = 104; initialDepth = 2048.686213; finalDepth = 2065.186745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0217189999998 # Actual altitude: 72.0217189999998 # Commanded vehicle depth:2065.186745 # Seafloor depth:-2137.208464 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 288.09; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.40; MB_Bottom_Detect_Filter_Max_Range = 288.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2113.686213 meters looking forward 200.000000 meters along route # Maximum depth: 2134.777020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.686213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001215; longitude = -129.079177; captureRadius = 10; duration = 104; initialDepth = 2034.665203; finalDepth = 2048.686213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0564490000002 # Actual altitude: 79.0564490000002 # Commanded vehicle depth:2048.686213 # Seafloor depth:-2127.742662 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 316.23; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.81; MB_Bottom_Detect_Filter_Max_Range = 316.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2099.665203 meters looking forward 200.000000 meters along route # Maximum depth: 2124.160377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2034.665203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000328; longitude = -129.078642; captureRadius = 10; duration = 104; initialDepth = 2029.233296; finalDepth = 2034.665203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.0564490000002 # Actual altitude: 79.0564490000002 # Commanded vehicle depth:2034.665203 # Seafloor depth:-2109.820403 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 316.23; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.81; MB_Bottom_Detect_Filter_Max_Range = 316.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2094.233296 meters looking forward 200.000000 meters along route # Maximum depth: 2106.645819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2029.233296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999441; longitude = -129.078107; captureRadius = 10; duration = 104; initialDepth = 2029.233296; finalDepth = 2029.233296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1552000000001 # Actual altitude: 75.1552000000001 # Commanded vehicle depth:2029.233296 # Seafloor depth:-2096.011923 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.62; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.03; MB_Bottom_Detect_Filter_Max_Range = 300.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2094.233296 meters looking forward 200.000000 meters along route # Maximum depth: 2136.389118 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2029.233296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998554; longitude = -129.077571; captureRadius = 10; duration = 104; initialDepth = 2046.913080; finalDepth = 2029.233296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4763370000001 # Actual altitude: 72.4763370000001 # Commanded vehicle depth:2029.233296 # Seafloor depth:-2101.709633 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 289.91; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.50; MB_Bottom_Detect_Filter_Max_Range = 289.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2111.913080 meters looking forward 200.000000 meters along route # Maximum depth: 2161.005150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.913080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997667; longitude = -129.077036; captureRadius = 10; duration = 104; initialDepth = 2078.820486; finalDepth = 2046.913080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.6093250000004 # Actual altitude: 98.6093250000004 # Commanded vehicle depth:2046.91308 # Seafloor depth:-2145.522405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 394.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.72; MB_Bottom_Detect_Filter_Max_Range = 394.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 394.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2152.395126 meters looking forward 200.000000 meters along route # Maximum depth: 2162.258915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.820486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996780; longitude = -129.076501; captureRadius = 10; duration = 104; initialDepth = 2078.552203; finalDepth = 2078.820486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.6093250000004 # Actual altitude: 98.6093250000004 # Commanded vehicle depth:2078.8204857 # Seafloor depth:-2162.258915 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 394.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.72; MB_Bottom_Detect_Filter_Max_Range = 394.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 394.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2143.552203 meters looking forward 200.000000 meters along route # Maximum depth: 2160.728868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.552203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995893; longitude = -129.075965; captureRadius = 10; duration = 104; initialDepth = 2065.656692; finalDepth = 2078.552203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.438429299998 # Actual altitude: 83.438429299998 # Commanded vehicle depth:2078.552203 # Seafloor depth:-2149.734201 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 333.75; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 333.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2130.656692 meters looking forward 200.000000 meters along route # Maximum depth: 2147.283010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.656692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995006; longitude = -129.075430; captureRadius = 10; duration = 104; initialDepth = 2053.767524; finalDepth = 2065.656692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6882420000002 # Actual altitude: 75.6882420000002 # Commanded vehicle depth:2065.656692 # Seafloor depth:-2141.344934 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 302.75; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 302.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2118.767524 meters looking forward 200.000000 meters along route # Maximum depth: 2138.798123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.767524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994119; longitude = -129.074895; captureRadius = 10; duration = 104; initialDepth = 2053.767524; finalDepth = 2053.767524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6882420000002 # Actual altitude: 75.6882420000002 # Commanded vehicle depth:2053.767524 # Seafloor depth:-2125.586655 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 302.75; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.14; MB_Bottom_Detect_Filter_Max_Range = 302.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2118.767524 meters looking forward 200.000000 meters along route # Maximum depth: 2123.620112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.767524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993232; longitude = -129.074359; captureRadius = 10; duration = 104; initialDepth = 2055.201914; finalDepth = 2053.767524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8191310000002 # Actual altitude: 71.8191310000002 # Commanded vehicle depth:2053.767524 # Seafloor depth:-2119.235261 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.36; MB_Bottom_Detect_Filter_Max_Range = 287.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2120.201914 meters looking forward 200.000000 meters along route # Maximum depth: 2127.247837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.201914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992346; longitude = -129.073824; captureRadius = 10; duration = 104; initialDepth = 2060.381744; finalDepth = 2055.201914; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8052249999996 # Actual altitude: 69.8052249999996 # Commanded vehicle depth:2055.201914 # Seafloor depth:-2125.007139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2125.381744 meters looking forward 200.000000 meters along route # Maximum depth: 2136.306543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2060.381744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991459; longitude = -129.073289; captureRadius = 10; duration = 104; initialDepth = 2066.626417; finalDepth = 2060.381744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8052249999996 # Actual altitude: 69.8052249999996 # Commanded vehicle depth:2060.381744 # Seafloor depth:-2129.392891 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2131.626417 meters looking forward 200.000000 meters along route # Maximum depth: 2148.299847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.626417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990572; longitude = -129.072753; captureRadius = 10; duration = 104; initialDepth = 2077.377055; finalDepth = 2066.626417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7240419999998 # Actual altitude: 72.7240419999998 # Commanded vehicle depth:2066.626417 # Seafloor depth:-2139.350459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.54; MB_Bottom_Detect_Filter_Max_Range = 290.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2142.377055 meters looking forward 200.000000 meters along route # Maximum depth: 2151.075897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.377055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989685; longitude = -129.072218; captureRadius = 10; duration = 104; initialDepth = 2079.677681; finalDepth = 2077.377055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7240419999998 # Actual altitude: 72.7240419999998 # Commanded vehicle depth:2077.377055 # Seafloor depth:-2149.952614 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.54; MB_Bottom_Detect_Filter_Max_Range = 290.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2144.677681 meters looking forward 200.000000 meters along route # Maximum depth: 2151.075897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.677681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988798; longitude = -129.071683; captureRadius = 10; duration = 104; initialDepth = 2079.677681; finalDepth = 2079.677681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5755589999999 # Actual altitude: 72.5755589999999 # Commanded vehicle depth:2079.677681 # Seafloor depth:-2148.560447 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.52; MB_Bottom_Detect_Filter_Max_Range = 290.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2144.677681 meters looking forward 200.000000 meters along route # Maximum depth: 2147.481334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.677681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987911; longitude = -129.071147; captureRadius = 10; duration = 104; initialDepth = 2069.364740; finalDepth = 2079.677681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8827659999997 # Actual altitude: 68.8827659999997 # Commanded vehicle depth:2079.677681 # Seafloor depth:-2145.292932 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.78; MB_Bottom_Detect_Filter_Max_Range = 275.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2134.364740 meters looking forward 200.000000 meters along route # Maximum depth: 2147.481334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.364740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987024; longitude = -129.070612; captureRadius = 10; duration = 104; initialDepth = 2065.096458; finalDepth = 2069.364740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3242190000001 # Actual altitude: 76.3242190000001 # Commanded vehicle depth:2069.36474 # Seafloor depth:-2145.688959 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 305.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 305.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2130.096458 meters looking forward 200.000000 meters along route # Maximum depth: 2142.162452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.096458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986137; longitude = -129.070077; captureRadius = 10; duration = 104; initialDepth = 2065.096458; finalDepth = 2065.096458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.3242190000001 # Actual altitude: 76.3242190000001 # Commanded vehicle depth:2065.096458 # Seafloor depth:-2132.106779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 305.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 305.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 104.851211 meters # Minimum depth: 2130.096458 meters looking forward 200.000000 meters along route # Maximum depth: 2132.594906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.096458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985250; longitude = -129.069541; captureRadius = 10; duration = 104; initialDepth = 2065.571838; finalDepth = 2065.096458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0103210000002 # Actual altitude: 67.0103210000002 # Commanded vehicle depth:2065.096458 # Seafloor depth:-2130.571838 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.04; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.40; MB_Bottom_Detect_Filter_Max_Range = 268.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 104.851211 meters # Minimum depth: 2130.571838 meters looking forward 200.000000 meters along route # Maximum depth: 2133.401745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.571838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984274; longitude = -129.068952; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2066.424965; finalDepth = 2065.571838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5125130000001 # Actual altitude: 66.5125130000001 # Commanded vehicle depth:2065.571838 # Seafloor depth:-2132.084351 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 266.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2131.424965 meters looking forward 200.000000 meters along route # Maximum depth: 2133.453940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.424965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983910; longitude = -129.069675; captureRadius = 10; duration = 104; initialDepth = 2063.842858; finalDepth = 2066.424965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0289749999997 # Actual altitude: 67.0289749999997 # Commanded vehicle depth:2066.424965 # Seafloor depth:-2133.453940 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2128.842858 meters looking forward 200.000000 meters along route # Maximum depth: 2133.117508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.842858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983304; longitude = -129.070880; captureRadius = 10; duration = 104; initialDepth = 2062.264774; finalDepth = 2063.842858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0431669999998 # Actual altitude: 67.0431669999998 # Commanded vehicle depth:2063.842858 # Seafloor depth:-2130.886025 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2127.264774 meters looking forward 200.000000 meters along route # Maximum depth: 2132.544622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.264774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982697; longitude = -129.072084; captureRadius = 10; duration = 104; initialDepth = 2062.264774; finalDepth = 2062.264774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0431669999998 # Actual altitude: 67.0431669999998 # Commanded vehicle depth:2062.264774 # Seafloor depth:-2128.253249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2127.264774 meters looking forward 200.000000 meters along route # Maximum depth: 2149.400653 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.264774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982091; longitude = -129.073289; captureRadius = 10; duration = 104; initialDepth = 2073.578518; finalDepth = 2062.264774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2131149999996 # Actual altitude: 72.2131149999996 # Commanded vehicle depth:2062.264774 # Seafloor depth:-2134.477889 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 288.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.44; MB_Bottom_Detect_Filter_Max_Range = 288.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2138.578518 meters looking forward 200.000000 meters along route # Maximum depth: 2159.876879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.578518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981485; longitude = -129.074493; captureRadius = 10; duration = 104; initialDepth = 2087.860305; finalDepth = 2073.578518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9168760000002 # Actual altitude: 76.9168760000002 # Commanded vehicle depth:2073.578518 # Seafloor depth:-2150.495394 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 307.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2152.860305 meters looking forward 200.000000 meters along route # Maximum depth: 2162.299262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.860305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980878; longitude = -129.075698; captureRadius = 10; duration = 104; initialDepth = 2096.248263; finalDepth = 2087.860305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.9168760000002 # Actual altitude: 76.9168760000002 # Commanded vehicle depth:2087.860305 # Seafloor depth:-2160.441284 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 307.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2161.248263 meters looking forward 200.000000 meters along route # Maximum depth: 2164.454634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.248263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980272; longitude = -129.076902; captureRadius = 10; duration = 104; initialDepth = 2090.858659; finalDepth = 2096.248263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5809789999998 # Actual altitude: 72.5809789999998 # Commanded vehicle depth:2096.248263 # Seafloor depth:-2162.589334 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.32; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.52; MB_Bottom_Detect_Filter_Max_Range = 290.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2155.858659 meters looking forward 200.000000 meters along route # Maximum depth: 2164.454634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.858659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979665; longitude = -129.078107; captureRadius = 10; duration = 104; initialDepth = 2080.533850; finalDepth = 2090.858659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0163830000001 # Actual altitude: 72.0163830000001 # Commanded vehicle depth:2090.858659 # Seafloor depth:-2162.875042 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 288.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.40; MB_Bottom_Detect_Filter_Max_Range = 288.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2145.533850 meters looking forward 200.000000 meters along route # Maximum depth: 2162.701257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.533850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979059; longitude = -129.079311; captureRadius = 10; duration = 104; initialDepth = 2075.043090; finalDepth = 2080.533850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1234320000003 # Actual altitude: 74.1234320000003 # Commanded vehicle depth:2080.53385 # Seafloor depth:-2154.657282 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 296.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.82; MB_Bottom_Detect_Filter_Max_Range = 296.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2140.043090 meters looking forward 200.000000 meters along route # Maximum depth: 2152.671713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.043090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978453; longitude = -129.080516; captureRadius = 10; duration = 104; initialDepth = 2075.043090; finalDepth = 2075.043090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1234320000003 # Actual altitude: 74.1234320000003 # Commanded vehicle depth:2075.04309 # Seafloor depth:-2144.134990 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 296.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.82; MB_Bottom_Detect_Filter_Max_Range = 296.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2140.043090 meters looking forward 200.000000 meters along route # Maximum depth: 2153.925368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.043090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977846; longitude = -129.081720; captureRadius = 10; duration = 104; initialDepth = 2079.004557; finalDepth = 2075.043090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0918999999999 # Actual altitude: 69.0918999999999 # Commanded vehicle depth:2075.04309 # Seafloor depth:-2141.060600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.82; MB_Bottom_Detect_Filter_Max_Range = 276.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2144.004557 meters looking forward 200.000000 meters along route # Maximum depth: 2160.221016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.004557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977240; longitude = -129.082925; captureRadius = 10; duration = 104; initialDepth = 2091.748309; finalDepth = 2079.004557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9264429999998 # Actual altitude: 75.9264429999998 # Commanded vehicle depth:2079.004557 # Seafloor depth:-2154.931000 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 303.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2156.748309 meters looking forward 200.000000 meters along route # Maximum depth: 2160.221016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.748309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976634; longitude = -129.084129; captureRadius = 10; duration = 104; initialDepth = 2086.615061; finalDepth = 2091.748309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9264429999998 # Actual altitude: 75.9264429999998 # Commanded vehicle depth:2091.748309 # Seafloor depth:-2159.924929 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 303.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 303.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2151.615061 meters looking forward 200.000000 meters along route # Maximum depth: 2159.494118 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.615061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976027; longitude = -129.085334; captureRadius = 10; duration = 104; initialDepth = 2080.220144; finalDepth = 2086.615061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7404489999999 # Actual altitude: 69.7404489999999 # Commanded vehicle depth:2086.615061 # Seafloor depth:-2156.355510 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2145.220144 meters looking forward 200.000000 meters along route # Maximum depth: 2155.477737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.220144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975421; longitude = -129.086538; captureRadius = 10; duration = 104; initialDepth = 2076.534255; finalDepth = 2080.220144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.358843 # Actual altitude: 70.358843 # Commanded vehicle depth:2080.220144 # Seafloor depth:-2150.578987 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.07; MB_Bottom_Detect_Filter_Max_Range = 281.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2141.534255 meters looking forward 200.000000 meters along route # Maximum depth: 2148.690122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.534255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974815; longitude = -129.087743; captureRadius = 10; duration = 104; initialDepth = 2065.354927; finalDepth = 2076.534255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.358843 # Actual altitude: 70.358843 # Commanded vehicle depth:2076.534255 # Seafloor depth:-2144.813333 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.07; MB_Bottom_Detect_Filter_Max_Range = 281.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2130.354927 meters looking forward 200.000000 meters along route # Maximum depth: 2144.114346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.354927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974208; longitude = -129.088947; captureRadius = 10; duration = 104; initialDepth = 2043.095497; finalDepth = 2065.354927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4909520000001 # Actual altitude: 75.4909520000001 # Commanded vehicle depth:2065.354927 # Seafloor depth:-2140.845879 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 301.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 301.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2108.095497 meters looking forward 200.000000 meters along route # Maximum depth: 2138.895714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.095497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973602; longitude = -129.090152; captureRadius = 10; duration = 104; initialDepth = 2021.000617; finalDepth = 2043.095497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.092427 # Actual altitude: 85.092427 # Commanded vehicle depth:2043.095497 # Seafloor depth:-2128.187924 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 340.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 340.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2086.000617 meters looking forward 200.000000 meters along route # Maximum depth: 2123.401076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.000617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972995; longitude = -129.091357; captureRadius = 10; duration = 104; initialDepth = 2016.611745; finalDepth = 2021.000617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.092427 # Actual altitude: 85.092427 # Commanded vehicle depth:2021.000617 # Seafloor depth:-2104.740011 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 340.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 340.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2081.611745 meters looking forward 200.000000 meters along route # Maximum depth: 2097.942923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2016.611745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972389; longitude = -129.092561; captureRadius = 10; duration = 104; initialDepth = 2015.292295; finalDepth = 2016.611745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7393939999997 # Actual altitude: 83.7393939999997 # Commanded vehicle depth:2016.611745 # Seafloor depth:-2084.677447 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 334.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 334.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2080.292295 meters looking forward 200.000000 meters along route # Maximum depth: 2083.275561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.292295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971783; longitude = -129.093766; captureRadius = 10; duration = 104; initialDepth = 2013.867327; finalDepth = 2015.292295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0657019999999 # Actual altitude: 68.0657019999999 # Commanded vehicle depth:2015.292295 # Seafloor depth:-2081.115809 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 104.851211 meters # Minimum depth: 2078.867327 meters looking forward 200.000000 meters along route # Maximum depth: 2081.039914 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2013.867327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971176; longitude = -129.094970; captureRadius = 10; duration = 104; initialDepth = 2013.717468; finalDepth = 2013.867327; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0394879999999 # Actual altitude: 67.0394879999999 # Commanded vehicle depth:2013.867327 # Seafloor depth:-2080.906815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 104.851211 meters # Minimum depth: 2078.717468 meters looking forward 200.000000 meters along route # Maximum depth: 2081.039914 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2013.717468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970603; longitude = -129.096109; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2013.717468; finalDepth = 2013.717468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0394879999999 # Actual altitude: 67.0394879999999 # Commanded vehicle depth:2013.717468 # Seafloor depth:-2078.717468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2078.717468 meters looking forward 200.000000 meters along route # Maximum depth: 2080.854509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2013.717468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971176; longitude = -129.095773; captureRadius = 10; duration = 104; initialDepth = 2015.486421; finalDepth = 2013.717468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0662070000003 # Actual altitude: 66.0662070000003 # Commanded vehicle depth:2013.717468 # Seafloor depth:-2079.783675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.21; MB_Bottom_Detect_Filter_Max_Range = 264.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2080.486421 meters looking forward 200.000000 meters along route # Maximum depth: 2082.230492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.486421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972090; longitude = -129.095238; captureRadius = 10; duration = 104; initialDepth = 2015.929196; finalDepth = 2015.486421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0662070000003 # Actual altitude: 66.0662070000003 # Commanded vehicle depth:2015.486421 # Seafloor depth:-2080.486421 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.21; MB_Bottom_Detect_Filter_Max_Range = 264.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2080.929196 meters looking forward 200.000000 meters along route # Maximum depth: 2084.430878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2015.929196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973004; longitude = -129.094702; captureRadius = 10; duration = 104; initialDepth = 2017.881090; finalDepth = 2015.929196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6743820000002 # Actual altitude: 66.6743820000002 # Commanded vehicle depth:2015.929196 # Seafloor depth:-2082.603578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 266.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2082.881090 meters looking forward 200.000000 meters along route # Maximum depth: 2089.837065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.881090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973917; longitude = -129.094167; captureRadius = 10; duration = 104; initialDepth = 2021.999227; finalDepth = 2017.881090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3606800000002 # Actual altitude: 67.3606800000002 # Commanded vehicle depth:2017.88109 # Seafloor depth:-2085.241770 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.47; MB_Bottom_Detect_Filter_Max_Range = 269.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2086.999227 meters looking forward 200.000000 meters along route # Maximum depth: 2090.038313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.999227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974831; longitude = -129.093632; captureRadius = 10; duration = 104; initialDepth = 2021.692297; finalDepth = 2021.999227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0390860000002 # Actual altitude: 68.0390860000002 # Commanded vehicle depth:2021.999227 # Seafloor depth:-2090.038313 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2086.692297 meters looking forward 200.000000 meters along route # Maximum depth: 2090.390637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.692297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975744; longitude = -129.093096; captureRadius = 10; duration = 104; initialDepth = 2022.986185; finalDepth = 2021.692297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0390860000002 # Actual altitude: 68.0390860000002 # Commanded vehicle depth:2021.692297 # Seafloor depth:-2086.692297 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2087.986185 meters looking forward 200.000000 meters along route # Maximum depth: 2092.550404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2022.986185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976658; longitude = -129.092561; captureRadius = 10; duration = 104; initialDepth = 2025.413838; finalDepth = 2022.986185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8363469999999 # Actual altitude: 67.8363469999999 # Commanded vehicle depth:2022.986185 # Seafloor depth:-2090.822532 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2090.413838 meters looking forward 200.000000 meters along route # Maximum depth: 2092.550404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2025.413838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977572; longitude = -129.092026; captureRadius = 10; duration = 104; initialDepth = 2020.733527; finalDepth = 2025.413838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8363469999999 # Actual altitude: 67.8363469999999 # Commanded vehicle depth:2025.413838 # Seafloor depth:-2091.637414 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2085.733527 meters looking forward 200.000000 meters along route # Maximum depth: 2090.666482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.733527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978485; longitude = -129.091490; captureRadius = 10; duration = 104; initialDepth = 2018.505010; finalDepth = 2020.733527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0307299999999 # Actual altitude: 69.0307299999999 # Commanded vehicle depth:2020.733527 # Seafloor depth:-2089.764257 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.81; MB_Bottom_Detect_Filter_Max_Range = 276.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2083.505010 meters looking forward 200.000000 meters along route # Maximum depth: 2088.318565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2018.505010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979399; longitude = -129.090955; captureRadius = 10; duration = 104; initialDepth = 2018.505010; finalDepth = 2018.505010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0307299999999 # Actual altitude: 69.0307299999999 # Commanded vehicle depth:2018.50501 # Seafloor depth:-2084.170520 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.81; MB_Bottom_Detect_Filter_Max_Range = 276.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2083.505010 meters looking forward 200.000000 meters along route # Maximum depth: 2090.499277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2018.505010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980313; longitude = -129.090420; captureRadius = 10; duration = 104; initialDepth = 2022.125785; finalDepth = 2018.505010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6459330000002 # Actual altitude: 67.6459330000002 # Commanded vehicle depth:2018.50501 # Seafloor depth:-2086.150943 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2087.125785 meters looking forward 200.000000 meters along route # Maximum depth: 2090.602249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2022.125785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981226; longitude = -129.089884; captureRadius = 10; duration = 104; initialDepth = 2013.854029; finalDepth = 2022.125785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.284713 # Actual altitude: 68.284713 # Commanded vehicle depth:2022.125785 # Seafloor depth:-2090.410498 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.14; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2078.854029 meters looking forward 200.000000 meters along route # Maximum depth: 2090.602249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2013.854029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982140; longitude = -129.089349; captureRadius = 10; duration = 104; initialDepth = 2009.195513; finalDepth = 2013.854029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5409799999998 # Actual altitude: 70.5409799999998 # Commanded vehicle depth:2013.854029 # Seafloor depth:-2084.395009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.11; MB_Bottom_Detect_Filter_Max_Range = 282.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2074.195513 meters looking forward 200.000000 meters along route # Maximum depth: 2081.946586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2009.195513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983054; longitude = -129.088814; captureRadius = 10; duration = 104; initialDepth = 2009.195513; finalDepth = 2009.195513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5409799999998 # Actual altitude: 70.5409799999998 # Commanded vehicle depth:2009.195513 # Seafloor depth:-2077.689572 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.11; MB_Bottom_Detect_Filter_Max_Range = 282.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2074.195513 meters looking forward 200.000000 meters along route # Maximum depth: 2075.651702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2009.195513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983967; longitude = -129.088278; captureRadius = 10; duration = 104; initialDepth = 2009.167222; finalDepth = 2009.195513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4940590000001 # Actual altitude: 68.4940590000001 # Commanded vehicle depth:2009.195513 # Seafloor depth:-2074.458399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.70; MB_Bottom_Detect_Filter_Max_Range = 273.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2074.167222 meters looking forward 200.000000 meters along route # Maximum depth: 2076.616806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2009.167222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984881; longitude = -129.087743; captureRadius = 10; duration = 104; initialDepth = 2009.566483; finalDepth = 2009.167222; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.262886 # Actual altitude: 65.262886 # Commanded vehicle depth:2009.167222 # Seafloor depth:-2074.167222 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 261.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.05; MB_Bottom_Detect_Filter_Max_Range = 261.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2074.566483 meters looking forward 200.000000 meters along route # Maximum depth: 2077.233434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2009.566483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985794; longitude = -129.087208; captureRadius = 10; duration = 104; initialDepth = 2011.013550; finalDepth = 2009.566483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5053370000001 # Actual altitude: 67.5053370000001 # Commanded vehicle depth:2009.566483 # Seafloor depth:-2077.071820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.02; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 270.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2076.013550 meters looking forward 200.000000 meters along route # Maximum depth: 2077.233434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2011.013550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986708; longitude = -129.086672; captureRadius = 10; duration = 104; initialDepth = 2011.013550; finalDepth = 2011.013550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5053370000001 # Actual altitude: 67.5053370000001 # Commanded vehicle depth:2011.01355 # Seafloor depth:-2076.477769 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.02; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 270.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2076.013550 meters looking forward 200.000000 meters along route # Maximum depth: 2081.913110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2011.013550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987622; longitude = -129.086137; captureRadius = 10; duration = 104; initialDepth = 2011.873537; finalDepth = 2011.013550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.799849 # Actual altitude: 66.799849 # Commanded vehicle depth:2011.01355 # Seafloor depth:-2077.813399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.36; MB_Bottom_Detect_Filter_Max_Range = 267.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2076.873537 meters looking forward 200.000000 meters along route # Maximum depth: 2081.913110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2011.873537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988535; longitude = -129.085602; captureRadius = 10; duration = 104; initialDepth = 2007.567964; finalDepth = 2011.873537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.281555 # Actual altitude: 69.281555 # Commanded vehicle depth:2011.873537 # Seafloor depth:-2081.155092 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.86; MB_Bottom_Detect_Filter_Max_Range = 277.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2072.567964 meters looking forward 200.000000 meters along route # Maximum depth: 2079.475869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2007.567964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989449; longitude = -129.085066; captureRadius = 10; duration = 104; initialDepth = 1985.725196; finalDepth = 2007.567964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.281555 # Actual altitude: 69.281555 # Commanded vehicle depth:2007.567964 # Seafloor depth:-2076.157150 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.86; MB_Bottom_Detect_Filter_Max_Range = 277.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2050.725196 meters looking forward 200.000000 meters along route # Maximum depth: 2075.258725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1985.725196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990363; longitude = -129.084531; captureRadius = 10; duration = 104; initialDepth = 1955.105867; finalDepth = 1985.725196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.185919 # Actual altitude: 84.185919 # Commanded vehicle depth:1985.725196 # Seafloor depth:-2069.911115 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 336.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.84; MB_Bottom_Detect_Filter_Max_Range = 336.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2020.105867 meters looking forward 200.000000 meters along route # Maximum depth: 2065.002461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1955.105867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991276; longitude = -129.083996; captureRadius = 10; duration = 104; initialDepth = 1927.924984; finalDepth = 1955.105867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.512082 # Actual altitude: 88.512082 # Commanded vehicle depth:1955.105867 # Seafloor depth:-2043.617949 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 354.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 354.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 354.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 1992.924984 meters looking forward 200.000000 meters along route # Maximum depth: 2035.080326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1927.924984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992190; longitude = -129.083460; captureRadius = 10; duration = 104; initialDepth = 1914.859081; finalDepth = 1927.924984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.512082 # Actual altitude: 88.512082 # Commanded vehicle depth:1927.924984 # Seafloor depth:-2012.097256 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 354.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 354.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 354.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 1979.859081 meters looking forward 200.000000 meters along route # Maximum depth: 2004.794069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1914.859081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993103; longitude = -129.082925; captureRadius = 10; duration = 104; initialDepth = 1914.463538; finalDepth = 1914.859081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.172272 # Actual altitude: 84.172272 # Commanded vehicle depth:1914.859081 # Seafloor depth:-1987.687783 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 336.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.83; MB_Bottom_Detect_Filter_Max_Range = 336.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 1979.463538 meters looking forward 200.000000 meters along route # Maximum depth: 1983.883675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1914.463538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994017; longitude = -129.082390; captureRadius = 10; duration = 104; initialDepth = 1914.897020; finalDepth = 1914.463538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.828702 # Actual altitude: 72.828702 # Commanded vehicle depth:1914.463538 # Seafloor depth:-1979.463538 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 291.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.57; MB_Bottom_Detect_Filter_Max_Range = 291.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 1979.897020 meters looking forward 200.000000 meters along route # Maximum depth: 1983.576903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1914.897020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994931; longitude = -129.081854; captureRadius = 10; duration = 104; initialDepth = 1914.897020; finalDepth = 1914.897020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7412099999999 # Actual altitude: 67.7412099999999 # Commanded vehicle depth:1914.89702 # Seafloor depth:-1982.638230 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 270.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 1979.897020 meters looking forward 200.000000 meters along route # Maximum depth: 2009.032723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1914.897020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995844; longitude = -129.081319; captureRadius = 10; duration = 104; initialDepth = 1925.663082; finalDepth = 1914.897020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.459654 # Actual altitude: 71.459654 # Commanded vehicle depth:1914.89702 # Seafloor depth:-1986.356674 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.84; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.29; MB_Bottom_Detect_Filter_Max_Range = 285.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 1990.663082 meters looking forward 200.000000 meters along route # Maximum depth: 2055.824687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1925.663082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996758; longitude = -129.080784; captureRadius = 10; duration = 104; initialDepth = 1958.398333; finalDepth = 1925.663082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.1781289999999 # Actual altitude: 95.1781289999999 # Commanded vehicle depth:1925.663082 # Seafloor depth:-2020.841211 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 380.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.04; MB_Bottom_Detect_Filter_Max_Range = 380.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 380.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2034.226149 meters looking forward 200.000000 meters along route # Maximum depth: 2079.938309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1958.398333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997672; longitude = -129.080248; captureRadius = 10; duration = 104; initialDepth = 1991.133512; finalDepth = 1958.398333; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.965910800001 # Actual altitude: 100 # Commanded vehicle depth:1958.3983332 # Seafloor depth:-2063.364244 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 400.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2070.176580 meters looking forward 200.000000 meters along route # Maximum depth: 2092.782986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1991.133512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998585; longitude = -129.079713; captureRadius = 10; duration = 104; initialDepth = 2021.261394; finalDepth = 1991.133512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.965910800001 # Actual altitude: 100 # Commanded vehicle depth:1991.1335115 # Seafloor depth:-2082.942611 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 400.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2086.261394 meters looking forward 200.000000 meters along route # Maximum depth: 2108.565905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2021.261394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999499; longitude = -129.079177; captureRadius = 10; duration = 104; initialDepth = 2036.733799; finalDepth = 2021.261394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.8090994999995 # Actual altitude: 91.8090994999995 # Commanded vehicle depth:2021.261394 # Seafloor depth:-2096.765600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 367.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.36; MB_Bottom_Detect_Filter_Max_Range = 367.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 367.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2101.733799 meters looking forward 200.000000 meters along route # Maximum depth: 2123.246757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2036.733799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000413; longitude = -129.078642; captureRadius = 10; duration = 104; initialDepth = 2049.661348; finalDepth = 2036.733799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.5042060000001 # Actual altitude: 75.5042060000001 # Commanded vehicle depth:2036.733799 # Seafloor depth:-2111.000342 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 302.02; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 302.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2114.661348 meters looking forward 200.000000 meters along route # Maximum depth: 2131.190627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.661348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001326; longitude = -129.078107; captureRadius = 10; duration = 104; initialDepth = 2063.581916; finalDepth = 2049.661348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6445089999997 # Actual altitude: 76.6445089999997 # Commanded vehicle depth:2049.661348 # Seafloor depth:-2126.305857 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 306.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2128.581916 meters looking forward 200.000000 meters along route # Maximum depth: 2136.052325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.581916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002240; longitude = -129.077571; captureRadius = 10; duration = 104; initialDepth = 2068.634715; finalDepth = 2063.581916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6445089999997 # Actual altitude: 76.6445089999997 # Commanded vehicle depth:2063.581916 # Seafloor depth:-2132.171927 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 306.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2133.634715 meters looking forward 200.000000 meters along route # Maximum depth: 2138.804590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.634715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003153; longitude = -129.077036; captureRadius = 10; duration = 104; initialDepth = 2072.476191; finalDepth = 2068.634715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5900109999998 # Actual altitude: 68.5900109999998 # Commanded vehicle depth:2068.634715 # Seafloor depth:-2136.634303 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.72; MB_Bottom_Detect_Filter_Max_Range = 274.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2137.476191 meters looking forward 200.000000 meters along route # Maximum depth: 2141.821138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.476191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004067; longitude = -129.076501; captureRadius = 10; duration = 104; initialDepth = 2074.971944; finalDepth = 2072.476191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9995879999997 # Actual altitude: 67.9995879999997 # Commanded vehicle depth:2072.476191 # Seafloor depth:-2139.357159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.60; MB_Bottom_Detect_Filter_Max_Range = 272.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2139.971944 meters looking forward 200.000000 meters along route # Maximum depth: 2143.382132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.971944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004981; longitude = -129.075965; captureRadius = 10; duration = 104; initialDepth = 2077.928350; finalDepth = 2074.971944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7758290000002 # Actual altitude: 67.7758290000002 # Commanded vehicle depth:2074.971944 # Seafloor depth:-2142.747773 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.10; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2142.928350 meters looking forward 200.000000 meters along route # Maximum depth: 2146.741358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.928350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005894; longitude = -129.075430; captureRadius = 10; duration = 104; initialDepth = 2080.204125; finalDepth = 2077.928350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7758290000002 # Actual altitude: 67.7758290000002 # Commanded vehicle depth:2077.92835 # Seafloor depth:-2144.349928 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.10; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2145.204125 meters looking forward 200.000000 meters along route # Maximum depth: 2155.919210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.204125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006808; longitude = -129.074895; captureRadius = 10; duration = 104; initialDepth = 2085.445445; finalDepth = 2080.204125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0677799999999 # Actual altitude: 68.0677799999999 # Commanded vehicle depth:2080.204125 # Seafloor depth:-2148.271905 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.27; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2150.445445 meters looking forward 200.000000 meters along route # Maximum depth: 2167.285893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.445445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007722; longitude = -129.074359; captureRadius = 10; duration = 104; initialDepth = 2097.266431; finalDepth = 2085.445445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.7767830000003 # Actual altitude: 73.7767830000003 # Commanded vehicle depth:2085.445445 # Seafloor depth:-2159.222228 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.76; MB_Bottom_Detect_Filter_Max_Range = 295.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2162.266431 meters looking forward 200.000000 meters along route # Maximum depth: 2175.152409 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.266431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008635; longitude = -129.073824; captureRadius = 10; duration = 104; initialDepth = 2106.474782; finalDepth = 2097.266431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.7767830000003 # Actual altitude: 73.7767830000003 # Commanded vehicle depth:2097.266431 # Seafloor depth:-2169.248695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.76; MB_Bottom_Detect_Filter_Max_Range = 295.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2171.474782 meters looking forward 200.000000 meters along route # Maximum depth: 2177.947338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.474782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009549; longitude = -129.073289; captureRadius = 10; duration = 104; initialDepth = 2112.402085; finalDepth = 2106.474782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9822640000002 # Actual altitude: 71.9822640000002 # Commanded vehicle depth:2106.474782 # Seafloor depth:-2176.470251 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.40; MB_Bottom_Detect_Filter_Max_Range = 287.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2177.402085 meters looking forward 200.000000 meters along route # Maximum depth: 2178.472589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.402085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010463; longitude = -129.072753; captureRadius = 10; duration = 104; initialDepth = 2113.120947; finalDepth = 2112.402085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9954690000004 # Actual altitude: 69.9954690000004 # Commanded vehicle depth:2112.402085 # Seafloor depth:-2178.057388 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.00; MB_Bottom_Detect_Filter_Max_Range = 279.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2178.120947 meters looking forward 200.000000 meters along route # Maximum depth: 2178.699138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.120947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011376; longitude = -129.072218; captureRadius = 10; duration = 104; initialDepth = 2112.850753; finalDepth = 2113.120947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.655303 # Actual altitude: 65.655303 # Commanded vehicle depth:2113.120947 # Seafloor depth:-2178.692255 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 262.62; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.13; MB_Bottom_Detect_Filter_Max_Range = 262.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2177.850753 meters looking forward 200.000000 meters along route # Maximum depth: 2178.699138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.850753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.012290; longitude = -129.071683; captureRadius = 10; duration = 104; initialDepth = 2112.850753; finalDepth = 2112.850753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.571308 # Actual altitude: 65.571308 # Commanded vehicle depth:2112.850753 # Seafloor depth:-2178.350763 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 262.29; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.11; MB_Bottom_Detect_Filter_Max_Range = 262.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2177.850753 meters looking forward 200.000000 meters along route # Maximum depth: 2178.189747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.850753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.013203; longitude = -129.071147; captureRadius = 10; duration = 104; initialDepth = 2112.762442; finalDepth = 2112.850753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5000099999997 # Actual altitude: 65.5000099999997 # Commanded vehicle depth:2112.850753 # Seafloor depth:-2178.097443 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 262.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.10; MB_Bottom_Detect_Filter_Max_Range = 262.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.851211 meters # Minimum depth: 2177.762442 meters looking forward 200.000000 meters along route # Maximum depth: 2178.927258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.762442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.014117; longitude = -129.070612; captureRadius = 10; duration = 104; initialDepth = 2109.025774; finalDepth = 2112.762442; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4493079999997 # Actual altitude: 65.4493079999997 # Commanded vehicle depth:2112.762442 # Seafloor depth:-2178.211750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 261.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.09; MB_Bottom_Detect_Filter_Max_Range = 261.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 104.851211 meters # Minimum depth: 2174.025774 meters looking forward 200.000000 meters along route # Maximum depth: 2178.927258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.025774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.015124; longitude = -129.070022; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2106.015106; finalDepth = 2109.025774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3024729999997 # Actual altitude: 68.3024729999997 # Commanded vehicle depth:2109.025774 # Seafloor depth:-2177.328247 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 104.851211 meters # Minimum depth: 2171.015106 meters looking forward 200.000000 meters along route # Maximum depth: 2177.762442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.015106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.014843; longitude = -129.069006; captureRadius = 10; duration = 104; initialDepth = 2105.666202; finalDepth = 2106.015106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 68.3024729999997 # Actual altitude: 68.3024729999997 # Commanded vehicle depth:2106.015106 # Seafloor depth:-2173.836968 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 104.851211 meters # Minimum depth: 2170.666202 meters looking forward 200.000000 meters along route # Maximum depth: 2174.574249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.666202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.014494; longitude = -129.067748; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2097.413755; finalDepth = 2105.666202; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8218620000002 # Actual altitude: 67.8218620000002 # Commanded vehicle depth:2105.666202 # Seafloor depth:-2171.423157 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.29; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2162.413755 meters looking forward 200.000000 meters along route # Maximum depth: 2171.423157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.413755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.013949; longitude = -129.068069; captureRadius = 10; duration = 104; initialDepth = 2090.173154; finalDepth = 2097.413755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7872779999998 # Actual altitude: 71.7872779999998 # Commanded vehicle depth:2097.413755 # Seafloor depth:-2169.201033 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.36; MB_Bottom_Detect_Filter_Max_Range = 287.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2155.173154 meters looking forward 200.000000 meters along route # Maximum depth: 2166.926065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.173154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.013041; longitude = -129.068604; captureRadius = 10; duration = 104; initialDepth = 2090.124357; finalDepth = 2090.173154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7872779999998 # Actual altitude: 71.7872779999998 # Commanded vehicle depth:2090.173154 # Seafloor depth:-2160.265896 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.36; MB_Bottom_Detect_Filter_Max_Range = 287.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2155.124357 meters looking forward 200.000000 meters along route # Maximum depth: 2159.802599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.124357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.012133; longitude = -129.069140; captureRadius = 10; duration = 104; initialDepth = 2091.037022; finalDepth = 2090.124357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0927419999998 # Actual altitude: 70.0927419999998 # Commanded vehicle depth:2090.124357 # Seafloor depth:-2155.124357 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.02; MB_Bottom_Detect_Filter_Max_Range = 280.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2156.037022 meters looking forward 200.000000 meters along route # Maximum depth: 2163.172501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.037022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011225; longitude = -129.069675; captureRadius = 10; duration = 104; initialDepth = 2090.984332; finalDepth = 2091.037022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4026920000001 # Actual altitude: 70.4026920000001 # Commanded vehicle depth:2091.037022 # Seafloor depth:-2161.439714 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.08; MB_Bottom_Detect_Filter_Max_Range = 281.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2155.984332 meters looking forward 200.000000 meters along route # Maximum depth: 2163.172501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.984332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010317; longitude = -129.070210; captureRadius = 10; duration = 104; initialDepth = 2085.563846; finalDepth = 2090.984332; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4026920000001 # Actual altitude: 70.4026920000001 # Commanded vehicle depth:2090.984332 # Seafloor depth:-2160.996935 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.08; MB_Bottom_Detect_Filter_Max_Range = 281.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2150.563846 meters looking forward 200.000000 meters along route # Maximum depth: 2159.346500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.563846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009409; longitude = -129.070746; captureRadius = 10; duration = 104; initialDepth = 2077.878888; finalDepth = 2085.563846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0126030000001 # Actual altitude: 70.0126030000001 # Commanded vehicle depth:2085.563846 # Seafloor depth:-2154.722880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.00; MB_Bottom_Detect_Filter_Max_Range = 280.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2142.878888 meters looking forward 200.000000 meters along route # Maximum depth: 2153.502680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.878888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008501; longitude = -129.071281; captureRadius = 10; duration = 104; initialDepth = 2075.830279; finalDepth = 2077.878888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.893501 # Actual altitude: 70.893501 # Commanded vehicle depth:2077.878888 # Seafloor depth:-2148.772389 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.18; MB_Bottom_Detect_Filter_Max_Range = 283.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2140.830279 meters looking forward 200.000000 meters along route # Maximum depth: 2146.455752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.830279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007593; longitude = -129.071817; captureRadius = 10; duration = 104; initialDepth = 2075.814574; finalDepth = 2075.830279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.893501 # Actual altitude: 70.893501 # Commanded vehicle depth:2075.830279 # Seafloor depth:-2142.520227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.18; MB_Bottom_Detect_Filter_Max_Range = 283.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2140.814574 meters looking forward 200.000000 meters along route # Maximum depth: 2141.831033 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.814574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006685; longitude = -129.072352; captureRadius = 10; duration = 104; initialDepth = 2073.738128; finalDepth = 2075.814574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6899480000002 # Actual altitude: 66.6899480000002 # Commanded vehicle depth:2075.814574 # Seafloor depth:-2140.814574 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.34; MB_Bottom_Detect_Filter_Max_Range = 266.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2138.738128 meters looking forward 200.000000 meters along route # Maximum depth: 2141.346492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.738128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005777; longitude = -129.072887; captureRadius = 10; duration = 104; initialDepth = 2073.370840; finalDepth = 2073.738128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.460208 # Actual altitude: 67.460208 # Commanded vehicle depth:2073.738128 # Seafloor depth:-2141.198336 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.84; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2138.370840 meters looking forward 200.000000 meters along route # Maximum depth: 2140.934079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.370840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004869; longitude = -129.073423; captureRadius = 10; duration = 104; initialDepth = 2068.898945; finalDepth = 2073.370840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.460208 # Actual altitude: 67.460208 # Commanded vehicle depth:2073.37084 # Seafloor depth:-2138.370840 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.84; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2133.898945 meters looking forward 200.000000 meters along route # Maximum depth: 2138.966407 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.898945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003960; longitude = -129.073958; captureRadius = 10; duration = 104; initialDepth = 2063.873029; finalDepth = 2068.898945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6658419999999 # Actual altitude: 68.6658419999999 # Commanded vehicle depth:2068.898945 # Seafloor depth:-2137.564787 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2128.873029 meters looking forward 200.000000 meters along route # Maximum depth: 2136.415449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.873029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003052; longitude = -129.074493; captureRadius = 10; duration = 104; initialDepth = 2058.489476; finalDepth = 2063.873029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8843830000001 # Actual altitude: 68.8843830000001 # Commanded vehicle depth:2063.873029 # Seafloor depth:-2132.757412 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.78; MB_Bottom_Detect_Filter_Max_Range = 275.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2123.489476 meters looking forward 200.000000 meters along route # Maximum depth: 2131.695291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2058.489476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002144; longitude = -129.075029; captureRadius = 10; duration = 104; initialDepth = 2056.690741; finalDepth = 2058.489476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4915079999996 # Actual altitude: 69.4915079999996 # Commanded vehicle depth:2058.489476 # Seafloor depth:-2127.980984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.90; MB_Bottom_Detect_Filter_Max_Range = 277.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2121.690741 meters looking forward 200.000000 meters along route # Maximum depth: 2127.041337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2056.690741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001236; longitude = -129.075564; captureRadius = 10; duration = 104; initialDepth = 2054.395155; finalDepth = 2056.690741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4915079999996 # Actual altitude: 69.4915079999996 # Commanded vehicle depth:2056.690741 # Seafloor depth:-2122.132702 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.90; MB_Bottom_Detect_Filter_Max_Range = 277.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2119.395155 meters looking forward 200.000000 meters along route # Maximum depth: 2121.811514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.395155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000328; longitude = -129.076099; captureRadius = 10; duration = 104; initialDepth = 2051.830033; finalDepth = 2054.395155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.784459 # Actual altitude: 66.784459 # Commanded vehicle depth:2054.395155 # Seafloor depth:-2121.179614 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.14; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.36; MB_Bottom_Detect_Filter_Max_Range = 267.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2116.830033 meters looking forward 200.000000 meters along route # Maximum depth: 2120.640942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.830033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999420; longitude = -129.076635; captureRadius = 10; duration = 104; initialDepth = 2051.695171; finalDepth = 2051.830033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9560919999999 # Actual altitude: 66.9560919999999 # Commanded vehicle depth:2051.830033 # Seafloor depth:-2118.786125 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2116.695171 meters looking forward 200.000000 meters along route # Maximum depth: 2122.033267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.695171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998512; longitude = -129.077170; captureRadius = 10; duration = 104; initialDepth = 2051.581274; finalDepth = 2051.695171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9560919999999 # Actual altitude: 66.9560919999999 # Commanded vehicle depth:2051.695171 # Seafloor depth:-2116.695171 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2116.581274 meters looking forward 200.000000 meters along route # Maximum depth: 2123.852244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.581274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997604; longitude = -129.077705; captureRadius = 10; duration = 104; initialDepth = 2014.228988; finalDepth = 2051.581274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5279379999997 # Actual altitude: 71.5279379999997 # Commanded vehicle depth:2051.581274 # Seafloor depth:-2123.109212 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.31; MB_Bottom_Detect_Filter_Max_Range = 286.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2079.228988 meters looking forward 200.000000 meters along route # Maximum depth: 2123.852244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2014.228988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996696; longitude = -129.078241; captureRadius = 10; duration = 104; initialDepth = 1999.677786; finalDepth = 2014.228988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.7254430000003 # Actual altitude: 93.7254430000003 # Commanded vehicle depth:2014.228988 # Seafloor depth:-2107.954431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 374.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 374.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 374.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2064.677786 meters looking forward 200.000000 meters along route # Maximum depth: 2098.487358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1999.677786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995788; longitude = -129.078776; captureRadius = 10; duration = 104; initialDepth = 1998.969018; finalDepth = 1999.677786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.7254430000003 # Actual altitude: 93.7254430000003 # Commanded vehicle depth:1999.677786 # Seafloor depth:-2071.605723 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 374.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 374.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 374.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2063.969018 meters looking forward 200.000000 meters along route # Maximum depth: 2067.141439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1998.969018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994880; longitude = -129.079311; captureRadius = 10; duration = 104; initialDepth = 1999.380635; finalDepth = 1998.969018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9279369999999 # Actual altitude: 71.9279369999999 # Commanded vehicle depth:1998.969018 # Seafloor depth:-2063.969018 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.39; MB_Bottom_Detect_Filter_Max_Range = 287.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2064.380635 meters looking forward 200.000000 meters along route # Maximum depth: 2066.979812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1999.380635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993972; longitude = -129.079847; captureRadius = 10; duration = 104; initialDepth = 2001.684701; finalDepth = 1999.380635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.760953 # Actual altitude: 66.760953 # Commanded vehicle depth:1999.380635 # Seafloor depth:-2066.141588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.04; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 267.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2066.684701 meters looking forward 200.000000 meters along route # Maximum depth: 2069.490597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2001.684701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993064; longitude = -129.080382; captureRadius = 10; duration = 104; initialDepth = 2002.080205; finalDepth = 2001.684701; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.760953 # Actual altitude: 66.760953 # Commanded vehicle depth:2001.684701 # Seafloor depth:-2066.958107 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.04; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 267.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2067.080205 meters looking forward 200.000000 meters along route # Maximum depth: 2083.908941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2002.080205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992156; longitude = -129.080917; captureRadius = 10; duration = 104; initialDepth = 2012.304802; finalDepth = 2002.080205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5765409999999 # Actual altitude: 71.5765409999999 # Commanded vehicle depth:2002.080205 # Seafloor depth:-2073.656746 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.32; MB_Bottom_Detect_Filter_Max_Range = 286.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2077.304802 meters looking forward 200.000000 meters along route # Maximum depth: 2105.692771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2012.304802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991247; longitude = -129.081453; captureRadius = 10; duration = 104; initialDepth = 2026.572003; finalDepth = 2012.304802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.597761 # Actual altitude: 74.597761 # Commanded vehicle depth:2012.304802 # Seafloor depth:-2086.902563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 298.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.92; MB_Bottom_Detect_Filter_Max_Range = 298.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2091.572003 meters looking forward 200.000000 meters along route # Maximum depth: 2116.927756 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.572003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990339; longitude = -129.081988; captureRadius = 10; duration = 104; initialDepth = 2049.019159; finalDepth = 2026.572003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5427649999997 # Actual altitude: 84.5427649999997 # Commanded vehicle depth:2026.572003 # Seafloor depth:-2111.114768 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2114.019159 meters looking forward 200.000000 meters along route # Maximum depth: 2117.197598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.019159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989431; longitude = -129.082523; captureRadius = 10; duration = 104; initialDepth = 2044.702393; finalDepth = 2049.019159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.5427649999997 # Actual altitude: 84.5427649999997 # Commanded vehicle depth:2049.019159 # Seafloor depth:-2117.197598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 338.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 338.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2109.702393 meters looking forward 200.000000 meters along route # Maximum depth: 2116.838674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.702393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988523; longitude = -129.083059; captureRadius = 10; duration = 104; initialDepth = 2044.702393; finalDepth = 2044.702393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1784390000003 # Actual altitude: 68.1784390000003 # Commanded vehicle depth:2044.702393 # Seafloor depth:-2111.430695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2109.702393 meters looking forward 200.000000 meters along route # Maximum depth: 2116.445374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.702393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987615; longitude = -129.083594; captureRadius = 10; duration = 104; initialDepth = 2049.719530; finalDepth = 2044.702393; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4101909999999 # Actual altitude: 68.4101909999999 # Commanded vehicle depth:2044.702393 # Seafloor depth:-2113.112584 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 273.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2114.719530 meters looking forward 200.000000 meters along route # Maximum depth: 2119.740565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.719530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986707; longitude = -129.084129; captureRadius = 10; duration = 104; initialDepth = 2053.194248; finalDepth = 2049.719530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4101909999999 # Actual altitude: 68.4101909999999 # Commanded vehicle depth:2049.71953 # Seafloor depth:-2116.678253 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 273.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2118.194248 meters looking forward 200.000000 meters along route # Maximum depth: 2122.980391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.194248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985799; longitude = -129.084665; captureRadius = 10; duration = 104; initialDepth = 2055.128965; finalDepth = 2053.194248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9587230000002 # Actual altitude: 66.9587230000002 # Commanded vehicle depth:2053.194248 # Seafloor depth:-2119.589189 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2120.128965 meters looking forward 200.000000 meters along route # Maximum depth: 2123.077695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.128965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984891; longitude = -129.085200; captureRadius = 10; duration = 104; initialDepth = 2052.533948; finalDepth = 2055.128965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9487300000001 # Actual altitude: 67.9487300000001 # Commanded vehicle depth:2055.128965 # Seafloor depth:-2123.077695 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.79; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.59; MB_Bottom_Detect_Filter_Max_Range = 271.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2117.533948 meters looking forward 200.000000 meters along route # Maximum depth: 2122.912449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2052.533948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983983; longitude = -129.085735; captureRadius = 10; duration = 104; initialDepth = 2051.900768; finalDepth = 2052.533948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6423100000002 # Actual altitude: 69.6423100000002 # Commanded vehicle depth:2052.533948 # Seafloor depth:-2122.176258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2116.900768 meters looking forward 200.000000 meters along route # Maximum depth: 2121.651263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.900768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983075; longitude = -129.086271; captureRadius = 10; duration = 104; initialDepth = 2051.900768; finalDepth = 2051.900768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6423100000002 # Actual altitude: 69.6423100000002 # Commanded vehicle depth:2051.900768 # Seafloor depth:-2116.904874 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2116.900768 meters looking forward 200.000000 meters along route # Maximum depth: 2122.744146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.900768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982167; longitude = -129.086806; captureRadius = 10; duration = 104; initialDepth = 2054.175497; finalDepth = 2051.900768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6358989999999 # Actual altitude: 68.6358989999999 # Commanded vehicle depth:2051.900768 # Seafloor depth:-2120.536667 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2119.175497 meters looking forward 200.000000 meters along route # Maximum depth: 2122.744146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.175497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981259; longitude = -129.087341; captureRadius = 10; duration = 104; initialDepth = 2041.606371; finalDepth = 2054.175497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6358989999999 # Actual altitude: 68.6358989999999 # Commanded vehicle depth:2054.175497 # Seafloor depth:-2122.557667 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2106.606371 meters looking forward 200.000000 meters along route # Maximum depth: 2122.488009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.606371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980351; longitude = -129.087877; captureRadius = 10; duration = 104; initialDepth = 2038.809621; finalDepth = 2041.606371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3198179999999 # Actual altitude: 74.3198179999999 # Commanded vehicle depth:2041.606371 # Seafloor depth:-2115.926189 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 297.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.86; MB_Bottom_Detect_Filter_Max_Range = 297.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2103.809621 meters looking forward 200.000000 meters along route # Maximum depth: 2112.643757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.809621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979443; longitude = -129.088412; captureRadius = 10; duration = 104; initialDepth = 2038.809621; finalDepth = 2038.809621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3198179999999 # Actual altitude: 74.3198179999999 # Commanded vehicle depth:2038.809621 # Seafloor depth:-2104.495796 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 297.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.86; MB_Bottom_Detect_Filter_Max_Range = 297.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2103.809621 meters looking forward 200.000000 meters along route # Maximum depth: 2108.603276 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.809621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978534; longitude = -129.088947; captureRadius = 10; duration = 104; initialDepth = 2031.680903; finalDepth = 2038.809621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7936549999999 # Actual altitude: 69.7936549999999 # Commanded vehicle depth:2038.809621 # Seafloor depth:-2108.603276 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2096.680903 meters looking forward 200.000000 meters along route # Maximum depth: 2108.553167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.680903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977626; longitude = -129.089483; captureRadius = 10; duration = 104; initialDepth = 2024.937313; finalDepth = 2031.680903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1438779999999 # Actual altitude: 73.1438779999999 # Commanded vehicle depth:2031.680903 # Seafloor depth:-2104.824781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.63; MB_Bottom_Detect_Filter_Max_Range = 292.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2089.937313 meters looking forward 200.000000 meters along route # Maximum depth: 2102.826788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.937313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976718; longitude = -129.090018; captureRadius = 10; duration = 104; initialDepth = 2024.937313; finalDepth = 2024.937313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1438779999999 # Actual altitude: 73.1438779999999 # Commanded vehicle depth:2024.937313 # Seafloor depth:-2092.704529 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.63; MB_Bottom_Detect_Filter_Max_Range = 292.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2089.937313 meters looking forward 200.000000 meters along route # Maximum depth: 2096.246517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.937313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975810; longitude = -129.090554; captureRadius = 10; duration = 104; initialDepth = 2026.996614; finalDepth = 2024.937313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7672160000002 # Actual altitude: 67.7672160000002 # Commanded vehicle depth:2024.937313 # Seafloor depth:-2091.242939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2091.996614 meters looking forward 200.000000 meters along route # Maximum depth: 2096.246517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.996614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974902; longitude = -129.091089; captureRadius = 10; duration = 104; initialDepth = 2020.689157; finalDepth = 2026.996614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9215129999998 # Actual altitude: 68.9215129999998 # Commanded vehicle depth:2026.996614 # Seafloor depth:-2095.918127 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.78; MB_Bottom_Detect_Filter_Max_Range = 275.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2085.689157 meters looking forward 200.000000 meters along route # Maximum depth: 2095.055023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.689157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973994; longitude = -129.091624; captureRadius = 10; duration = 104; initialDepth = 2019.665618; finalDepth = 2020.689157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.457226 # Actual altitude: 69.457226 # Commanded vehicle depth:2020.689157 # Seafloor depth:-2090.146383 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.89; MB_Bottom_Detect_Filter_Max_Range = 277.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2084.665618 meters looking forward 200.000000 meters along route # Maximum depth: 2088.598412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2019.665618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973086; longitude = -129.092160; captureRadius = 10; duration = 104; initialDepth = 2017.216778; finalDepth = 2019.665618; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.457226 # Actual altitude: 69.457226 # Commanded vehicle depth:2019.665618 # Seafloor depth:-2085.423285 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.89; MB_Bottom_Detect_Filter_Max_Range = 277.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2082.216778 meters looking forward 200.000000 meters along route # Maximum depth: 2085.506935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.216778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972178; longitude = -129.092695; captureRadius = 10; duration = 104; initialDepth = 2017.216778; finalDepth = 2017.216778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4918870000001 # Actual altitude: 66.4918870000001 # Commanded vehicle depth:2017.216778 # Seafloor depth:-2083.708665 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 265.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.851211 meters # Minimum depth: 2082.216778 meters looking forward 200.000000 meters along route # Maximum depth: 2085.401766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.216778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971270; longitude = -129.093230; captureRadius = 10; duration = 104; initialDepth = 2017.530501; finalDepth = 2017.216778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4918870000001 # Actual altitude: 66.4918870000001 # Commanded vehicle depth:2017.216778 # Seafloor depth:-2082.530501 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 265.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 104.851211 meters # Minimum depth: 2082.530501 meters looking forward 200.000000 meters along route # Maximum depth: 2095.923467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2017.530501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970244; longitude = -129.093835; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2020.396545; finalDepth = 2017.530501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8660439999999 # Actual altitude: 67.8660439999999 # Commanded vehicle depth:2017.530501 # Seafloor depth:-2085.396545 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.46; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.851211 meters # Minimum depth: 2085.396545 meters looking forward 200.000000 meters along route # Maximum depth: 2149.787420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2020.396545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970089; longitude = -129.093096; captureRadius = 10; duration = 104; initialDepth = 2027.381258; finalDepth = 2020.396545; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 79.5451050000001 # Actual altitude: 79.5451050000001 # Commanded vehicle depth:2020.396545 # Seafloor depth:-2099.941650 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 318.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.91; MB_Bottom_Detect_Filter_Max_Range = 318.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 104.851211 meters # Minimum depth: 2092.381258 meters looking forward 200.000000 meters along route # Maximum depth: 2152.174377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2027.381258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969794; longitude = -129.091695; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2047.971702; finalDepth = 2027.381258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.793119 # Actual altitude: 100 # Commanded vehicle depth:2027.381258 # Seafloor depth:-2152.174377 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 400.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2145.972439 meters looking forward 200.000000 meters along route # Maximum depth: 2152.174377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.971702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970368; longitude = -129.091357; captureRadius = 10; duration = 104; initialDepth = 2080.537213; finalDepth = 2047.971702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.793119 # Actual altitude: 100 # Commanded vehicle depth:2047.9717019 # Seafloor depth:-2150.811092 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 400.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2149.329685 meters looking forward 200.000000 meters along route # Maximum depth: 2150.627211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.537213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971276; longitude = -129.090821; captureRadius = 10; duration = 104; initialDepth = 2078.745441; finalDepth = 2080.537213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.839390099999 # Actual altitude: 100 # Commanded vehicle depth:2080.5372134 # Seafloor depth:-2150.627211 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 400.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2143.745441 meters looking forward 200.000000 meters along route # Maximum depth: 2150.606990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.745441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972184; longitude = -129.090286; captureRadius = 10; duration = 104; initialDepth = 2075.699238; finalDepth = 2078.745441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0899975999996 # Actual altitude: 70.0899975999996 # Commanded vehicle depth:2078.745441 # Seafloor depth:-2146.839553 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.02; MB_Bottom_Detect_Filter_Max_Range = 280.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2140.699238 meters looking forward 200.000000 meters along route # Maximum depth: 2144.272180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.699238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973092; longitude = -129.089750; captureRadius = 10; duration = 104; initialDepth = 2072.700664; finalDepth = 2075.699238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1981099999998 # Actual altitude: 68.1981099999998 # Commanded vehicle depth:2075.699238 # Seafloor depth:-2143.897348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.79; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2137.700664 meters looking forward 200.000000 meters along route # Maximum depth: 2142.866727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.700664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974001; longitude = -129.089215; captureRadius = 10; duration = 104; initialDepth = 2070.149913; finalDepth = 2072.700664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1981099999998 # Actual altitude: 68.1981099999998 # Commanded vehicle depth:2072.700664 # Seafloor depth:-2139.743918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.79; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2135.149913 meters looking forward 200.000000 meters along route # Maximum depth: 2139.058793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.149913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974909; longitude = -129.088680; captureRadius = 10; duration = 104; initialDepth = 2070.034566; finalDepth = 2070.149913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.093476 # Actual altitude: 67.093476 # Commanded vehicle depth:2070.149913 # Seafloor depth:-2137.243389 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.42; MB_Bottom_Detect_Filter_Max_Range = 268.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2135.034566 meters looking forward 200.000000 meters along route # Maximum depth: 2139.763653 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.034566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975817; longitude = -129.088144; captureRadius = 10; duration = 104; initialDepth = 2070.879344; finalDepth = 2070.034566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.093476 # Actual altitude: 67.093476 # Commanded vehicle depth:2070.034566 # Seafloor depth:-2135.034566 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.42; MB_Bottom_Detect_Filter_Max_Range = 268.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2135.879344 meters looking forward 200.000000 meters along route # Maximum depth: 2140.510258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.879344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976725; longitude = -129.087609; captureRadius = 10; duration = 104; initialDepth = 2069.654673; finalDepth = 2070.879344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6309139999998 # Actual altitude: 69.6309139999998 # Commanded vehicle depth:2070.879344 # Seafloor depth:-2140.510258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2134.654673 meters looking forward 200.000000 meters along route # Maximum depth: 2140.221513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.654673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977633; longitude = -129.087074; captureRadius = 10; duration = 104; initialDepth = 2069.654673; finalDepth = 2069.654673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.6309139999998 # Actual altitude: 69.6309139999998 # Commanded vehicle depth:2069.654673 # Seafloor depth:-2136.961011 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2134.654673 meters looking forward 200.000000 meters along route # Maximum depth: 2135.731369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.654673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978541; longitude = -129.086538; captureRadius = 10; duration = 104; initialDepth = 2070.089815; finalDepth = 2069.654673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3063379999999 # Actual altitude: 67.3063379999999 # Commanded vehicle depth:2069.654673 # Seafloor depth:-2134.772320 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.23; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 269.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2135.089815 meters looking forward 200.000000 meters along route # Maximum depth: 2138.445654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.089815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979449; longitude = -129.086003; captureRadius = 10; duration = 104; initialDepth = 2070.367959; finalDepth = 2070.089815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.117647 # Actual altitude: 65.117647 # Commanded vehicle depth:2070.089815 # Seafloor depth:-2135.098334 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 260.47; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.02; MB_Bottom_Detect_Filter_Max_Range = 260.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2135.367959 meters looking forward 200.000000 meters along route # Maximum depth: 2139.295084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.367959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980357; longitude = -129.085468; captureRadius = 10; duration = 104; initialDepth = 2073.583502; finalDepth = 2070.367959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3618469999997 # Actual altitude: 68.3618469999997 # Commanded vehicle depth:2070.367959 # Seafloor depth:-2138.729806 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.45; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.67; MB_Bottom_Detect_Filter_Max_Range = 273.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2138.583502 meters looking forward 200.000000 meters along route # Maximum depth: 2142.487816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.583502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981265; longitude = -129.084932; captureRadius = 10; duration = 104; initialDepth = 2075.121329; finalDepth = 2073.583502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3618469999997 # Actual altitude: 68.3618469999997 # Commanded vehicle depth:2073.583502 # Seafloor depth:-2139.634991 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.45; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.67; MB_Bottom_Detect_Filter_Max_Range = 273.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2140.121329 meters looking forward 200.000000 meters along route # Maximum depth: 2146.423616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.121329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982173; longitude = -129.084397; captureRadius = 10; duration = 104; initialDepth = 2078.731073; finalDepth = 2075.121329; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1301859999999 # Actual altitude: 68.1301859999999 # Commanded vehicle depth:2075.121329 # Seafloor depth:-2143.251515 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.63; MB_Bottom_Detect_Filter_Max_Range = 272.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2143.731073 meters looking forward 200.000000 meters along route # Maximum depth: 2148.467960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.731073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983081; longitude = -129.083862; captureRadius = 10; duration = 104; initialDepth = 2081.780763; finalDepth = 2078.731073; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1301859999999 # Actual altitude: 68.1301859999999 # Commanded vehicle depth:2078.731073 # Seafloor depth:-2146.748977 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.63; MB_Bottom_Detect_Filter_Max_Range = 272.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2146.780763 meters looking forward 200.000000 meters along route # Maximum depth: 2151.130767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.780763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983990; longitude = -129.083326; captureRadius = 10; duration = 104; initialDepth = 2085.748757; finalDepth = 2081.780763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0179040000003 # Actual altitude: 68.0179040000003 # Commanded vehicle depth:2081.780763 # Seafloor depth:-2149.674556 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.60; MB_Bottom_Detect_Filter_Max_Range = 272.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2150.748757 meters looking forward 200.000000 meters along route # Maximum depth: 2151.515882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.748757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984898; longitude = -129.082791; captureRadius = 10; duration = 104; initialDepth = 2086.314463; finalDepth = 2085.748757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8937929999997 # Actual altitude: 67.8937929999997 # Commanded vehicle depth:2085.748757 # Seafloor depth:-2151.042078 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.58; MB_Bottom_Detect_Filter_Max_Range = 271.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2151.314463 meters looking forward 200.000000 meters along route # Maximum depth: 2153.212979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.314463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985806; longitude = -129.082256; captureRadius = 10; duration = 104; initialDepth = 2084.772194; finalDepth = 2086.314463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3046859999999 # Actual altitude: 65.3046859999999 # Commanded vehicle depth:2086.314463 # Seafloor depth:-2151.619149 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 261.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.06; MB_Bottom_Detect_Filter_Max_Range = 261.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2149.772194 meters looking forward 200.000000 meters along route # Maximum depth: 2153.212979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.772194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986714; longitude = -129.081720; captureRadius = 10; duration = 104; initialDepth = 2084.772194; finalDepth = 2084.772194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.899273 # Actual altitude: 67.899273 # Commanded vehicle depth:2084.772194 # Seafloor depth:-2152.671467 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.60; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.58; MB_Bottom_Detect_Filter_Max_Range = 271.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2149.772194 meters looking forward 200.000000 meters along route # Maximum depth: 2152.119566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.772194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987622; longitude = -129.081185; captureRadius = 10; duration = 104; initialDepth = 2084.529729; finalDepth = 2084.772194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.899273 # Actual altitude: 67.899273 # Commanded vehicle depth:2084.772194 # Seafloor depth:-2150.604021 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.60; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.58; MB_Bottom_Detect_Filter_Max_Range = 271.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2149.529729 meters looking forward 200.000000 meters along route # Maximum depth: 2152.119566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.529729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988530; longitude = -129.080650; captureRadius = 10; duration = 104; initialDepth = 2080.485063; finalDepth = 2084.529729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3141820000001 # Actual altitude: 66.3141820000001 # Commanded vehicle depth:2084.529729 # Seafloor depth:-2150.843911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.26; MB_Bottom_Detect_Filter_Max_Range = 265.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2145.485063 meters looking forward 200.000000 meters along route # Maximum depth: 2150.504659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.485063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989438; longitude = -129.080114; captureRadius = 10; duration = 104; initialDepth = 2066.430678; finalDepth = 2080.485063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9521829999999 # Actual altitude: 68.9521829999999 # Commanded vehicle depth:2080.485063 # Seafloor depth:-2149.437246 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.81; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2131.430678 meters looking forward 200.000000 meters along route # Maximum depth: 2148.794531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.430678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990346; longitude = -129.079579; captureRadius = 10; duration = 104; initialDepth = 2046.216067; finalDepth = 2066.430678; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.7427519999997 # Actual altitude: 75.7427519999997 # Commanded vehicle depth:2066.430678 # Seafloor depth:-2142.173430 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 302.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.15; MB_Bottom_Detect_Filter_Max_Range = 302.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2111.216067 meters looking forward 200.000000 meters along route # Maximum depth: 2138.926293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.216067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991254; longitude = -129.079044; captureRadius = 10; duration = 104; initialDepth = 2043.270448; finalDepth = 2046.216067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3159820000001 # Actual altitude: 80.3159820000001 # Commanded vehicle depth:2046.216067 # Seafloor depth:-2126.532049 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 321.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 321.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2108.270448 meters looking forward 200.000000 meters along route # Maximum depth: 2121.448324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.270448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992162; longitude = -129.078508; captureRadius = 10; duration = 104; initialDepth = 2042.583266; finalDepth = 2043.270448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3159820000001 # Actual altitude: 80.3159820000001 # Commanded vehicle depth:2043.270448 # Seafloor depth:-2109.021446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 321.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 321.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2107.583266 meters looking forward 200.000000 meters along route # Maximum depth: 2110.892774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.583266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993071; longitude = -129.077973; captureRadius = 10; duration = 104; initialDepth = 2041.568004; finalDepth = 2042.583266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3095079999998 # Actual altitude: 68.3095079999998 # Commanded vehicle depth:2042.583266 # Seafloor depth:-2110.892774 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2106.568004 meters looking forward 200.000000 meters along route # Maximum depth: 2110.665129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.568004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993979; longitude = -129.077438; captureRadius = 10; duration = 104; initialDepth = 2041.568004; finalDepth = 2041.568004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3095079999998 # Actual altitude: 68.3095079999998 # Commanded vehicle depth:2041.568004 # Seafloor depth:-2106.743054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2106.568004 meters looking forward 200.000000 meters along route # Maximum depth: 2131.267624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.568004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994887; longitude = -129.076902; captureRadius = 10; duration = 104; initialDepth = 2052.549981; finalDepth = 2041.568004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.364325 # Actual altitude: 72.364325 # Commanded vehicle depth:2041.568004 # Seafloor depth:-2113.932329 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 289.46; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.47; MB_Bottom_Detect_Filter_Max_Range = 289.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2117.549981 meters looking forward 200.000000 meters along route # Maximum depth: 2166.102083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2052.549981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995795; longitude = -129.076367; captureRadius = 10; duration = 104; initialDepth = 2082.462973; finalDepth = 2052.549981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.540688 # Actual altitude: 86.540688 # Commanded vehicle depth:2052.549981 # Seafloor depth:-2139.090669 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 346.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 346.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2147.462973 meters looking forward 200.000000 meters along route # Maximum depth: 2182.076964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.462973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996703; longitude = -129.075832; captureRadius = 10; duration = 104; initialDepth = 2111.020486; finalDepth = 2082.462973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6620760000001 # Actual altitude: 89.6620760000001 # Commanded vehicle depth:2082.462973 # Seafloor depth:-2172.125049 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 358.65; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.93; MB_Bottom_Detect_Filter_Max_Range = 358.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 358.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2176.020486 meters looking forward 200.000000 meters along route # Maximum depth: 2186.592037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.020486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997611; longitude = -129.075296; captureRadius = 10; duration = 104; initialDepth = 2120.483423; finalDepth = 2111.020486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6620760000001 # Actual altitude: 89.6620760000001 # Commanded vehicle depth:2111.020486 # Seafloor depth:-2184.123521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 358.65; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.93; MB_Bottom_Detect_Filter_Max_Range = 358.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 358.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2185.483423 meters looking forward 200.000000 meters along route # Maximum depth: 2187.101283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.483423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998519; longitude = -129.074761; captureRadius = 10; duration = 104; initialDepth = 2114.836350; finalDepth = 2120.483423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1030350000001 # Actual altitude: 73.1030350000001 # Commanded vehicle depth:2120.483423 # Seafloor depth:-2186.876257 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.41; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.62; MB_Bottom_Detect_Filter_Max_Range = 292.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2179.836350 meters looking forward 200.000000 meters along route # Maximum depth: 2187.101283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.836350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999427; longitude = -129.074226; captureRadius = 10; duration = 104; initialDepth = 2101.451297; finalDepth = 2114.836350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1906639999997 # Actual altitude: 71.1906639999997 # Commanded vehicle depth:2114.83635 # Seafloor depth:-2186.027014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.24; MB_Bottom_Detect_Filter_Max_Range = 284.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2166.451297 meters looking forward 200.000000 meters along route # Maximum depth: 2185.868500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.451297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000335; longitude = -129.073690; captureRadius = 10; duration = 104; initialDepth = 2093.356953; finalDepth = 2101.451297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1692239999998 # Actual altitude: 74.1692239999998 # Commanded vehicle depth:2101.451297 # Seafloor depth:-2175.620521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 296.68; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.83; MB_Bottom_Detect_Filter_Max_Range = 296.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2158.356953 meters looking forward 200.000000 meters along route # Maximum depth: 2171.962650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.356953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001243; longitude = -129.073155; captureRadius = 10; duration = 104; initialDepth = 2088.679572; finalDepth = 2093.356953; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1692239999998 # Actual altitude: 74.1692239999998 # Commanded vehicle depth:2093.356953 # Seafloor depth:-2163.810555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 296.68; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.83; MB_Bottom_Detect_Filter_Max_Range = 296.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2153.679572 meters looking forward 200.000000 meters along route # Maximum depth: 2161.478453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.679572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002151; longitude = -129.072620; captureRadius = 10; duration = 104; initialDepth = 2080.901038; finalDepth = 2088.679572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.453602 # Actual altitude: 70.453602 # Commanded vehicle depth:2088.679572 # Seafloor depth:-2156.777117 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.81; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2145.901038 meters looking forward 200.000000 meters along route # Maximum depth: 2155.267319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.901038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003060; longitude = -129.072084; captureRadius = 10; duration = 104; initialDepth = 2076.857850; finalDepth = 2080.901038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6585490000002 # Actual altitude: 71.6585490000002 # Commanded vehicle depth:2080.901038 # Seafloor depth:-2152.559587 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.33; MB_Bottom_Detect_Filter_Max_Range = 286.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2141.857850 meters looking forward 200.000000 meters along route # Maximum depth: 2151.196316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.857850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003968; longitude = -129.071549; captureRadius = 10; duration = 104; initialDepth = 2076.343658; finalDepth = 2076.857850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6585490000002 # Actual altitude: 71.6585490000002 # Commanded vehicle depth:2076.85785 # Seafloor depth:-2143.805526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.33; MB_Bottom_Detect_Filter_Max_Range = 286.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2141.343658 meters looking forward 200.000000 meters along route # Maximum depth: 2142.942164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.343658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004876; longitude = -129.071014; captureRadius = 10; duration = 104; initialDepth = 2076.647170; finalDepth = 2076.343658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9476760000002 # Actual altitude: 66.9476760000002 # Commanded vehicle depth:2076.343658 # Seafloor depth:-2141.343658 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.79; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2141.647170 meters looking forward 200.000000 meters along route # Maximum depth: 2143.277010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.647170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005784; longitude = -129.070478; captureRadius = 10; duration = 104; initialDepth = 2077.944059; finalDepth = 2076.647170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4112169999999 # Actual altitude: 66.4112169999999 # Commanded vehicle depth:2076.64717 # Seafloor depth:-2143.058387 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.28; MB_Bottom_Detect_Filter_Max_Range = 265.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2142.944059 meters looking forward 200.000000 meters along route # Maximum depth: 2143.656651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.944059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006692; longitude = -129.069943; captureRadius = 10; duration = 104; initialDepth = 2078.348305; finalDepth = 2077.944059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4112169999999 # Actual altitude: 66.4112169999999 # Commanded vehicle depth:2077.944059 # Seafloor depth:-2143.270975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.28; MB_Bottom_Detect_Filter_Max_Range = 265.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2143.348305 meters looking forward 200.000000 meters along route # Maximum depth: 2145.770714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.348305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007600; longitude = -129.069407; captureRadius = 10; duration = 104; initialDepth = 2079.842359; finalDepth = 2078.348305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1817639999999 # Actual altitude: 66.1817639999999 # Commanded vehicle depth:2078.348305 # Seafloor depth:-2144.530069 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.73; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2144.842359 meters looking forward 200.000000 meters along route # Maximum depth: 2146.023794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.842359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008508; longitude = -129.068872; captureRadius = 10; duration = 104; initialDepth = 2079.842359; finalDepth = 2079.842359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1817639999999 # Actual altitude: 66.1817639999999 # Commanded vehicle depth:2079.842359 # Seafloor depth:-2144.882337 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.73; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2144.842359 meters looking forward 200.000000 meters along route # Maximum depth: 2151.234325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.842359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009416; longitude = -129.068337; captureRadius = 10; duration = 104; initialDepth = 2082.952197; finalDepth = 2079.842359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7463869999997 # Actual altitude: 66.7463869999997 # Commanded vehicle depth:2079.842359 # Seafloor depth:-2146.588746 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 266.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2147.952197 meters looking forward 200.000000 meters along route # Maximum depth: 2153.836346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.952197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010324; longitude = -129.067801; captureRadius = 10; duration = 104; initialDepth = 2087.908909; finalDepth = 2082.952197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2674750000001 # Actual altitude: 69.2674750000001 # Commanded vehicle depth:2082.952197 # Seafloor depth:-2152.219672 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 277.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2152.908909 meters looking forward 200.000000 meters along route # Maximum depth: 2155.594785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.908909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011232; longitude = -129.067266; captureRadius = 10; duration = 104; initialDepth = 2088.715753; finalDepth = 2087.908909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2674750000001 # Actual altitude: 69.2674750000001 # Commanded vehicle depth:2087.908909 # Seafloor depth:-2153.951513 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 277.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2153.715753 meters looking forward 200.000000 meters along route # Maximum depth: 2164.554167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.715753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.012140; longitude = -129.066731; captureRadius = 10; duration = 104; initialDepth = 2098.084824; finalDepth = 2088.715753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.46839 # Actual altitude: 69.46839 # Commanded vehicle depth:2088.715753 # Seafloor depth:-2158.184143 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.89; MB_Bottom_Detect_Filter_Max_Range = 277.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 104.851211 meters # Minimum depth: 2163.084824 meters looking forward 200.000000 meters along route # Maximum depth: 2166.058320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.084824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.013049; longitude = -129.066195; captureRadius = 10; duration = 104; initialDepth = 2099.307114; finalDepth = 2098.084824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.46839 # Actual altitude: 69.46839 # Commanded vehicle depth:2098.084824 # Seafloor depth:-2165.675877 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.89; MB_Bottom_Detect_Filter_Max_Range = 277.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2164.307114 meters looking forward 200.000000 meters along route # Maximum depth: 2174.899568 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.307114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.014045; longitude = -129.065608; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2099.307114; finalDepth = 2099.307114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5910530000001 # Actual altitude: 67.5910530000001 # Commanded vehicle depth:2099.307114 # Seafloor depth:-2164.667603 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.52; MB_Bottom_Detect_Filter_Max_Range = 270.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.851211 meters # Minimum depth: 2164.307114 meters looking forward 200.000000 meters along route # Maximum depth: 2196.002282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.307114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.013763; longitude = -129.064589; captureRadius = 10; duration = 104; initialDepth = 2099.628783; finalDepth = 2099.307114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 78.4821269999998 # Actual altitude: 78.4821269999998 # Commanded vehicle depth:2099.307114 # Seafloor depth:-2177.789241 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 313.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.70; MB_Bottom_Detect_Filter_Max_Range = 313.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 104.851211 meters # Minimum depth: 2164.628783 meters looking forward 200.000000 meters along route # Maximum depth: 2196.167480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.628783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.013415; longitude = -129.063333; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2102.767490; finalDepth = 2099.628783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.538697 # Actual altitude: 96.538697 # Commanded vehicle depth:2099.628783 # Seafloor depth:-2196.167480 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 386.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.31; MB_Bottom_Detect_Filter_Max_Range = 386.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 386.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2184.059116 meters looking forward 200.000000 meters along route # Maximum depth: 2196.905961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.767490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.013328; longitude = -129.063385; captureRadius = 10; duration = 104; initialDepth = 2127.279628; finalDepth = 2102.767490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.538697 # Actual altitude: 96.538697 # Commanded vehicle depth:2102.7674898 # Seafloor depth:-2195.963283 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 386.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.31; MB_Bottom_Detect_Filter_Max_Range = 386.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 386.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2192.279628 meters looking forward 200.000000 meters along route # Maximum depth: 2196.905961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2127.279628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.012425; longitude = -129.063920; captureRadius = 10; duration = 104; initialDepth = 2122.586441; finalDepth = 2127.279628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.1957932000009 # Actual altitude: 93.1957932000009 # Commanded vehicle depth:2127.279628 # Seafloor depth:-2196.549730 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 372.78; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.64; MB_Bottom_Detect_Filter_Max_Range = 372.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 372.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2187.586441 meters looking forward 200.000000 meters along route # Maximum depth: 2194.906602 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.586441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011523; longitude = -129.064456; captureRadius = 10; duration = 104; initialDepth = 2114.781001; finalDepth = 2122.586441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2701020000004 # Actual altitude: 69.2701020000004 # Commanded vehicle depth:2122.586441 # Seafloor depth:-2191.773618 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.08; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 277.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2179.781001 meters looking forward 200.000000 meters along route # Maximum depth: 2190.789642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.781001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010620; longitude = -129.064991; captureRadius = 10; duration = 104; initialDepth = 2110.169452; finalDepth = 2114.781001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0120700000002 # Actual altitude: 71.0120700000002 # Commanded vehicle depth:2114.781001 # Seafloor depth:-2185.793071 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.20; MB_Bottom_Detect_Filter_Max_Range = 284.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2175.169452 meters looking forward 200.000000 meters along route # Maximum depth: 2184.099745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.169452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009717; longitude = -129.065526; captureRadius = 10; duration = 104; initialDepth = 2108.975846; finalDepth = 2110.169452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.0120700000002 # Actual altitude: 71.0120700000002 # Commanded vehicle depth:2110.169452 # Seafloor depth:-2177.571922 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.20; MB_Bottom_Detect_Filter_Max_Range = 284.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2173.975846 meters looking forward 200.000000 meters along route # Maximum depth: 2175.729396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.975846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008815; longitude = -129.066062; captureRadius = 10; duration = 104; initialDepth = 2108.975846; finalDepth = 2108.975846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.40247 # Actual altitude: 67.40247 # Commanded vehicle depth:2108.975846 # Seafloor depth:-2174.505897 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.48; MB_Bottom_Detect_Filter_Max_Range = 269.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2173.975846 meters looking forward 200.000000 meters along route # Maximum depth: 2177.631232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.975846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007912; longitude = -129.066597; captureRadius = 10; duration = 104; initialDepth = 2111.000620; finalDepth = 2108.975846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.14365 # Actual altitude: 67.14365 # Commanded vehicle depth:2108.975846 # Seafloor depth:-2176.119496 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.43; MB_Bottom_Detect_Filter_Max_Range = 268.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2176.000620 meters looking forward 200.000000 meters along route # Maximum depth: 2178.998389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.000620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007010; longitude = -129.067132; captureRadius = 10; duration = 104; initialDepth = 2112.721494; finalDepth = 2111.000620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.14365 # Actual altitude: 67.14365 # Commanded vehicle depth:2111.00062 # Seafloor depth:-2177.890866 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.57; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.43; MB_Bottom_Detect_Filter_Max_Range = 268.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2177.721494 meters looking forward 200.000000 meters along route # Maximum depth: 2181.303357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.721494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006107; longitude = -129.067668; captureRadius = 10; duration = 104; initialDepth = 2115.000863; finalDepth = 2112.721494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8902460000004 # Actual altitude: 66.8902460000004 # Commanded vehicle depth:2112.721494 # Seafloor depth:-2179.321416 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.38; MB_Bottom_Detect_Filter_Max_Range = 267.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2180.000863 meters looking forward 200.000000 meters along route # Maximum depth: 2181.764818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.000863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005205; longitude = -129.068203; captureRadius = 10; duration = 104; initialDepth = 2116.063434; finalDepth = 2115.000863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5999220000003 # Actual altitude: 66.5999220000003 # Commanded vehicle depth:2115.000863 # Seafloor depth:-2181.170412 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.32; MB_Bottom_Detect_Filter_Max_Range = 266.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2181.063434 meters looking forward 200.000000 meters along route # Maximum depth: 2185.183050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.063434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004302; longitude = -129.068738; captureRadius = 10; duration = 104; initialDepth = 2119.548088; finalDepth = 2116.063434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.233236 # Actual altitude: 67.233236 # Commanded vehicle depth:2116.063434 # Seafloor depth:-2183.296670 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.45; MB_Bottom_Detect_Filter_Max_Range = 268.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2184.548088 meters looking forward 200.000000 meters along route # Maximum depth: 2187.521190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.548088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003400; longitude = -129.069274; captureRadius = 10; duration = 104; initialDepth = 2122.165001; finalDepth = 2119.548088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.233236 # Actual altitude: 67.233236 # Commanded vehicle depth:2119.548088 # Seafloor depth:-2186.059815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.45; MB_Bottom_Detect_Filter_Max_Range = 268.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2187.165001 meters looking forward 200.000000 meters along route # Maximum depth: 2191.089705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.165001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002497; longitude = -129.069809; captureRadius = 10; duration = 104; initialDepth = 2123.571639; finalDepth = 2122.165001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5117270000001 # Actual altitude: 66.5117270000001 # Commanded vehicle depth:2122.165001 # Seafloor depth:-2187.680105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 266.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2188.571639 meters looking forward 200.000000 meters along route # Maximum depth: 2193.746284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.571639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001595; longitude = -129.070344; captureRadius = 10; duration = 104; initialDepth = 2127.731082; finalDepth = 2123.571639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5558120000001 # Actual altitude: 68.5558120000001 # Commanded vehicle depth:2123.571639 # Seafloor depth:-2192.127451 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 274.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2192.731082 meters looking forward 200.000000 meters along route # Maximum depth: 2197.923620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2127.731082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000692; longitude = -129.070880; captureRadius = 10; duration = 104; initialDepth = 2123.690205; finalDepth = 2127.731082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5558120000001 # Actual altitude: 68.5558120000001 # Commanded vehicle depth:2127.731082 # Seafloor depth:-2194.556590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 274.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2188.690205 meters looking forward 200.000000 meters along route # Maximum depth: 2197.923620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.690205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999790; longitude = -129.071415; captureRadius = 10; duration = 104; initialDepth = 2112.142102; finalDepth = 2123.690205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4709090000001 # Actual altitude: 72.4709090000001 # Commanded vehicle depth:2123.690205 # Seafloor depth:-2196.161114 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 289.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.49; MB_Bottom_Detect_Filter_Max_Range = 289.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2177.142102 meters looking forward 200.000000 meters along route # Maximum depth: 2193.600774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.142102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998887; longitude = -129.071950; captureRadius = 10; duration = 104; initialDepth = 2107.285343; finalDepth = 2112.142102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2813160000001 # Actual altitude: 73.2813160000001 # Commanded vehicle depth:2112.142102 # Seafloor depth:-2185.423418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 293.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.66; MB_Bottom_Detect_Filter_Max_Range = 293.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2172.285343 meters looking forward 200.000000 meters along route # Maximum depth: 2181.775324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2107.285343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997985; longitude = -129.072486; captureRadius = 10; duration = 104; initialDepth = 2105.817664; finalDepth = 2107.285343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2813160000001 # Actual altitude: 73.2813160000001 # Commanded vehicle depth:2107.285343 # Seafloor depth:-2175.346665 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 293.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.66; MB_Bottom_Detect_Filter_Max_Range = 293.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2170.817664 meters looking forward 200.000000 meters along route # Maximum depth: 2173.495917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.817664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997082; longitude = -129.073021; captureRadius = 10; duration = 104; initialDepth = 2093.334355; finalDepth = 2105.817664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.061322 # Actual altitude: 68.061322 # Commanded vehicle depth:2105.817664 # Seafloor depth:-2172.555781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2158.334355 meters looking forward 200.000000 meters along route # Maximum depth: 2172.688427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.334355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996180; longitude = -129.073556; captureRadius = 10; duration = 104; initialDepth = 2072.157848; finalDepth = 2093.334355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.498466 # Actual altitude: 75.498466 # Commanded vehicle depth:2093.334355 # Seafloor depth:-2168.832821 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2137.157848 meters looking forward 200.000000 meters along route # Maximum depth: 2166.207215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.157848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995277; longitude = -129.074092; captureRadius = 10; duration = 104; initialDepth = 2054.089672; finalDepth = 2072.157848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6282120000001 # Actual altitude: 80.6282120000001 # Commanded vehicle depth:2072.157848 # Seafloor depth:-2152.786060 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 322.51; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 322.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2119.089672 meters looking forward 200.000000 meters along route # Maximum depth: 2147.230766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.089672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994375; longitude = -129.074627; captureRadius = 10; duration = 104; initialDepth = 2050.923615; finalDepth = 2054.089672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6282120000001 # Actual altitude: 80.6282120000001 # Commanded vehicle depth:2054.089672 # Seafloor depth:-2131.585359 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 322.51; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.13; MB_Bottom_Detect_Filter_Max_Range = 322.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2115.923615 meters looking forward 200.000000 meters along route # Maximum depth: 2126.238041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.923615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993472; longitude = -129.075162; captureRadius = 10; duration = 104; initialDepth = 2050.923615; finalDepth = 2050.923615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4956870000001 # Actual altitude: 77.4956870000001 # Commanded vehicle depth:2050.923615 # Seafloor depth:-2117.189471 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 309.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 309.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2115.923615 meters looking forward 200.000000 meters along route # Maximum depth: 2123.778361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.923615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992570; longitude = -129.075698; captureRadius = 10; duration = 104; initialDepth = 2055.321006; finalDepth = 2050.923615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.574357 # Actual altitude: 68.574357 # Commanded vehicle depth:2050.923615 # Seafloor depth:-2119.497972 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 274.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2120.321006 meters looking forward 200.000000 meters along route # Maximum depth: 2139.892226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.321006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991667; longitude = -129.076233; captureRadius = 10; duration = 104; initialDepth = 2066.305851; finalDepth = 2055.321006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9654350000001 # Actual altitude: 71.9654350000001 # Commanded vehicle depth:2055.321006 # Seafloor depth:-2127.286441 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.86; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.39; MB_Bottom_Detect_Filter_Max_Range = 287.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2131.305851 meters looking forward 200.000000 meters along route # Maximum depth: 2152.708118 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.305851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990765; longitude = -129.076768; captureRadius = 10; duration = 104; initialDepth = 2082.133925; finalDepth = 2066.305851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3208009999998 # Actual altitude: 77.3208009999998 # Commanded vehicle depth:2066.305851 # Seafloor depth:-2143.626652 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 309.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2147.133925 meters looking forward 200.000000 meters along route # Maximum depth: 2157.603481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.133925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989862; longitude = -129.077304; captureRadius = 10; duration = 104; initialDepth = 2089.420304; finalDepth = 2082.133925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.3208009999998 # Actual altitude: 77.3208009999998 # Commanded vehicle depth:2082.133925 # Seafloor depth:-2154.826711 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 309.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 309.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2154.420304 meters looking forward 200.000000 meters along route # Maximum depth: 2157.603481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.420304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988960; longitude = -129.077839; captureRadius = 10; duration = 104; initialDepth = 2088.810774; finalDepth = 2089.420304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.6927860000001 # Actual altitude: 72.6927860000001 # Commanded vehicle depth:2089.420304 # Seafloor depth:-2156.651122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.77; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.54; MB_Bottom_Detect_Filter_Max_Range = 290.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2153.810774 meters looking forward 200.000000 meters along route # Maximum depth: 2156.151271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.810774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988057; longitude = -129.078374; captureRadius = 10; duration = 104; initialDepth = 2085.925647; finalDepth = 2088.810774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.230818 # Actual altitude: 67.230818 # Commanded vehicle depth:2088.810774 # Seafloor depth:-2154.148960 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.92; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.45; MB_Bottom_Detect_Filter_Max_Range = 268.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2150.925647 meters looking forward 200.000000 meters along route # Maximum depth: 2154.174320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.925647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987155; longitude = -129.078910; captureRadius = 10; duration = 104; initialDepth = 2085.925647; finalDepth = 2085.925647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8476289999999 # Actual altitude: 67.8476289999999 # Commanded vehicle depth:2085.925647 # Seafloor depth:-2153.773276 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2150.925647 meters looking forward 200.000000 meters along route # Maximum depth: 2155.810167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.925647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986252; longitude = -129.079445; captureRadius = 10; duration = 104; initialDepth = 2088.758932; finalDepth = 2085.925647; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8476289999999 # Actual altitude: 67.8476289999999 # Commanded vehicle depth:2085.925647 # Seafloor depth:-2151.984804 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2153.758932 meters looking forward 200.000000 meters along route # Maximum depth: 2155.810167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.758932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985350; longitude = -129.079980; captureRadius = 10; duration = 104; initialDepth = 2089.786304; finalDepth = 2088.758932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0372579999998 # Actual altitude: 67.0372579999998 # Commanded vehicle depth:2088.758932 # Seafloor depth:-2155.796190 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2154.786304 meters looking forward 200.000000 meters along route # Maximum depth: 2155.272187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.786304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984447; longitude = -129.080516; captureRadius = 10; duration = 104; initialDepth = 2086.468419; finalDepth = 2089.786304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0372579999998 # Actual altitude: 67.0372579999998 # Commanded vehicle depth:2089.786304 # Seafloor depth:-2155.272187 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2151.468419 meters looking forward 200.000000 meters along route # Maximum depth: 2155.214982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.468419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983545; longitude = -129.081051; captureRadius = 10; duration = 104; initialDepth = 2083.901546; finalDepth = 2086.468419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7465630000002 # Actual altitude: 68.7465630000002 # Commanded vehicle depth:2086.468419 # Seafloor depth:-2155.214982 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 274.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2148.901546 meters looking forward 200.000000 meters along route # Maximum depth: 2154.429954 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.901546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982642; longitude = -129.081587; captureRadius = 10; duration = 104; initialDepth = 2083.901546; finalDepth = 2083.901546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7465630000002 # Actual altitude: 68.7465630000002 # Commanded vehicle depth:2083.901546 # Seafloor depth:-2149.779919 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 274.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2148.901546 meters looking forward 200.000000 meters along route # Maximum depth: 2150.772481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.901546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981739; longitude = -129.082122; captureRadius = 10; duration = 104; initialDepth = 2084.818434; finalDepth = 2083.901546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2038830000001 # Actual altitude: 66.2038830000001 # Commanded vehicle depth:2083.901546 # Seafloor depth:-2150.105429 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2149.818434 meters looking forward 200.000000 meters along route # Maximum depth: 2151.092032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.818434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980837; longitude = -129.082657; captureRadius = 10; duration = 104; initialDepth = 2085.307040; finalDepth = 2084.818434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2038830000001 # Actual altitude: 66.2038830000001 # Commanded vehicle depth:2084.818434 # Seafloor depth:-2150.563072 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2150.307040 meters looking forward 200.000000 meters along route # Maximum depth: 2153.253221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.307040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979934; longitude = -129.083193; captureRadius = 10; duration = 104; initialDepth = 2086.717365; finalDepth = 2085.307040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9277789999996 # Actual altitude: 65.9277789999996 # Commanded vehicle depth:2085.30704 # Seafloor depth:-2151.234819 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.19; MB_Bottom_Detect_Filter_Max_Range = 263.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2151.717365 meters looking forward 200.000000 meters along route # Maximum depth: 2153.253221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.717365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979032; longitude = -129.083728; captureRadius = 10; duration = 104; initialDepth = 2087.022814; finalDepth = 2086.717365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.165211 # Actual altitude: 66.165211 # Commanded vehicle depth:2086.717365 # Seafloor depth:-2152.882576 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2152.022814 meters looking forward 200.000000 meters along route # Maximum depth: 2153.834639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.022814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978129; longitude = -129.084263; captureRadius = 10; duration = 104; initialDepth = 2088.002857; finalDepth = 2087.022814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.165211 # Actual altitude: 66.165211 # Commanded vehicle depth:2087.022814 # Seafloor depth:-2153.084224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2153.002857 meters looking forward 200.000000 meters along route # Maximum depth: 2154.866119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.002857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977227; longitude = -129.084799; captureRadius = 10; duration = 104; initialDepth = 2089.111426; finalDepth = 2088.002857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.078755 # Actual altitude: 66.078755 # Commanded vehicle depth:2088.002857 # Seafloor depth:-2154.081612 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.32; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.22; MB_Bottom_Detect_Filter_Max_Range = 264.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2154.111426 meters looking forward 200.000000 meters along route # Maximum depth: 2156.479607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.111426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976324; longitude = -129.085334; captureRadius = 10; duration = 104; initialDepth = 2089.882684; finalDepth = 2089.111426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.078755 # Actual altitude: 66.078755 # Commanded vehicle depth:2089.111426 # Seafloor depth:-2154.916447 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.32; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.22; MB_Bottom_Detect_Filter_Max_Range = 264.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2154.882684 meters looking forward 200.000000 meters along route # Maximum depth: 2156.717702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.882684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975422; longitude = -129.085869; captureRadius = 10; duration = 104; initialDepth = 2091.202410; finalDepth = 2089.882684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7313719999997 # Actual altitude: 66.7313719999997 # Commanded vehicle depth:2089.882684 # Seafloor depth:-2156.614056 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 266.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2156.202410 meters looking forward 200.000000 meters along route # Maximum depth: 2158.162080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.202410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974519; longitude = -129.086405; captureRadius = 10; duration = 104; initialDepth = 2091.782582; finalDepth = 2091.202410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7313719999997 # Actual altitude: 66.7313719999997 # Commanded vehicle depth:2091.20241 # Seafloor depth:-2157.275756 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 266.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2156.782582 meters looking forward 200.000000 meters along route # Maximum depth: 2158.324019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.782582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973617; longitude = -129.086940; captureRadius = 10; duration = 104; initialDepth = 2091.845844; finalDepth = 2091.782582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0733460000001 # Actual altitude: 66.0733460000001 # Commanded vehicle depth:2091.782582 # Seafloor depth:-2156.782582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.29; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.21; MB_Bottom_Detect_Filter_Max_Range = 264.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2156.845844 meters looking forward 200.000000 meters along route # Maximum depth: 2161.025348 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.845844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972714; longitude = -129.087475; captureRadius = 10; duration = 104; initialDepth = 2094.051617; finalDepth = 2091.845844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8463070000003 # Actual altitude: 66.8463070000003 # Commanded vehicle depth:2091.845844 # Seafloor depth:-2158.692151 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.37; MB_Bottom_Detect_Filter_Max_Range = 267.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2159.051617 meters looking forward 200.000000 meters along route # Maximum depth: 2164.384925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.051617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971812; longitude = -129.088011; captureRadius = 10; duration = 104; initialDepth = 2098.075212; finalDepth = 2094.051617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9295050000001 # Actual altitude: 67.9295050000001 # Commanded vehicle depth:2094.051617 # Seafloor depth:-2161.981122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.72; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.59; MB_Bottom_Detect_Filter_Max_Range = 271.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2163.075212 meters looking forward 200.000000 meters along route # Maximum depth: 2164.677579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.075212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970909; longitude = -129.088546; captureRadius = 10; duration = 104; initialDepth = 2099.301279; finalDepth = 2098.075212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9295050000001 # Actual altitude: 67.9295050000001 # Commanded vehicle depth:2098.075212 # Seafloor depth:-2164.677579 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.72; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.59; MB_Bottom_Detect_Filter_Max_Range = 271.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 104.851211 meters # Minimum depth: 2164.301279 meters looking forward 200.000000 meters along route # Maximum depth: 2169.158293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.301279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970007; longitude = -129.089081; captureRadius = 10; duration = 104; initialDepth = 2099.887436; finalDepth = 2099.301279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.602367 # Actual altitude: 66.602367 # Commanded vehicle depth:2099.301279 # Seafloor depth:-2164.887436 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.41; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.32; MB_Bottom_Detect_Filter_Max_Range = 266.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2164.887436 meters looking forward 200.000000 meters along route # Maximum depth: 2172.218980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.887436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968984; longitude = -129.089688; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2104.158293; finalDepth = 2099.887436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3943020000002 # Actual altitude: 70.3943020000002 # Commanded vehicle depth:2099.887436 # Seafloor depth:-2170.281738 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.08; MB_Bottom_Detect_Filter_Max_Range = 281.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.851211 meters # Minimum depth: 2169.158293 meters looking forward 200.000000 meters along route # Maximum depth: 2173.175303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.158293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968846; longitude = -129.088814; captureRadius = 10; duration = 104; initialDepth = 2104.684860; finalDepth = 2104.158293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 70.3943020000002 # Actual altitude: 70.3943020000002 # Commanded vehicle depth:2104.158293 # Seafloor depth:-2172.610507 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.08; MB_Bottom_Detect_Filter_Max_Range = 281.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 104.851211 meters # Minimum depth: 2169.684860 meters looking forward 200.000000 meters along route # Maximum depth: 2173.175303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.684860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968625; longitude = -129.087414; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2104.900761; finalDepth = 2104.684860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4522139999999 # Actual altitude: 68.4522139999999 # Commanded vehicle depth:2104.68486 # Seafloor depth:-2169.713440 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.81; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.69; MB_Bottom_Detect_Filter_Max_Range = 273.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2169.900761 meters looking forward 200.000000 meters along route # Maximum depth: 2172.887330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.900761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969427; longitude = -129.086940; captureRadius = 10; duration = 104; initialDepth = 2106.411846; finalDepth = 2104.900761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9830970000003 # Actual altitude: 66.9830970000003 # Commanded vehicle depth:2104.900761 # Seafloor depth:-2171.883858 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.40; MB_Bottom_Detect_Filter_Max_Range = 267.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2171.411846 meters looking forward 200.000000 meters along route # Maximum depth: 2172.887330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.411846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970332; longitude = -129.086405; captureRadius = 10; duration = 104; initialDepth = 2104.643235; finalDepth = 2106.411846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9830970000003 # Actual altitude: 66.9830970000003 # Commanded vehicle depth:2106.411846 # Seafloor depth:-2172.623095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.40; MB_Bottom_Detect_Filter_Max_Range = 267.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2169.643235 meters looking forward 200.000000 meters along route # Maximum depth: 2172.219731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.643235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971237; longitude = -129.085869; captureRadius = 10; duration = 104; initialDepth = 2101.797106; finalDepth = 2104.643235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4791970000001 # Actual altitude: 66.4791970000001 # Commanded vehicle depth:2104.643235 # Seafloor depth:-2171.122432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.92; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 265.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2166.797106 meters looking forward 200.000000 meters along route # Maximum depth: 2170.787953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.797106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972142; longitude = -129.085334; captureRadius = 10; duration = 104; initialDepth = 2099.637005; finalDepth = 2101.797106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.281121 # Actual altitude: 67.281121 # Commanded vehicle depth:2101.797106 # Seafloor depth:-2169.078227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 269.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2164.637005 meters looking forward 200.000000 meters along route # Maximum depth: 2168.018838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.637005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973048; longitude = -129.084799; captureRadius = 10; duration = 104; initialDepth = 2098.401840; finalDepth = 2099.637005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.281121 # Actual altitude: 67.281121 # Commanded vehicle depth:2099.637005 # Seafloor depth:-2166.788892 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 269.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2163.401840 meters looking forward 200.000000 meters along route # Maximum depth: 2166.329456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.401840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973953; longitude = -129.084263; captureRadius = 10; duration = 104; initialDepth = 2094.646783; finalDepth = 2098.401840; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.151887 # Actual altitude: 67.151887 # Commanded vehicle depth:2098.40184 # Seafloor depth:-2164.011245 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.43; MB_Bottom_Detect_Filter_Max_Range = 268.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2159.646783 meters looking forward 200.000000 meters along route # Maximum depth: 2163.542673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.646783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974858; longitude = -129.083728; captureRadius = 10; duration = 104; initialDepth = 2089.957742; finalDepth = 2094.646783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2483069999998 # Actual altitude: 68.2483069999998 # Commanded vehicle depth:2094.646783 # Seafloor depth:-2162.895090 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.65; MB_Bottom_Detect_Filter_Max_Range = 272.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2154.957742 meters looking forward 200.000000 meters along route # Maximum depth: 2161.404801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.957742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975764; longitude = -129.083193; captureRadius = 10; duration = 104; initialDepth = 2082.124617; finalDepth = 2089.957742; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1938599999999 # Actual altitude: 69.1938599999999 # Commanded vehicle depth:2089.957742 # Seafloor depth:-2159.151602 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.78; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.84; MB_Bottom_Detect_Filter_Max_Range = 276.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2147.124617 meters looking forward 200.000000 meters along route # Maximum depth: 2157.882086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.124617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976669; longitude = -129.082657; captureRadius = 10; duration = 104; initialDepth = 2079.306157; finalDepth = 2082.124617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2854149999998 # Actual altitude: 70.2854149999998 # Commanded vehicle depth:2082.124617 # Seafloor depth:-2152.410032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.14; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.06; MB_Bottom_Detect_Filter_Max_Range = 281.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2144.306157 meters looking forward 200.000000 meters along route # Maximum depth: 2149.468673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.306157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977574; longitude = -129.082122; captureRadius = 10; duration = 104; initialDepth = 2079.306157; finalDepth = 2079.306157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2854149999998 # Actual altitude: 70.2854149999998 # Commanded vehicle depth:2079.306157 # Seafloor depth:-2145.672694 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.14; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.06; MB_Bottom_Detect_Filter_Max_Range = 281.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2144.306157 meters looking forward 200.000000 meters along route # Maximum depth: 2146.057964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.306157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978479; longitude = -129.081587; captureRadius = 10; duration = 104; initialDepth = 2079.512461; finalDepth = 2079.306157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3665369999999 # Actual altitude: 66.3665369999999 # Commanded vehicle depth:2079.306157 # Seafloor depth:-2144.712600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.47; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 265.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2144.512461 meters looking forward 200.000000 meters along route # Maximum depth: 2146.057964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.512461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979385; longitude = -129.081051; captureRadius = 10; duration = 104; initialDepth = 2078.506918; finalDepth = 2079.512461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4021980000002 # Actual altitude: 66.4021980000002 # Commanded vehicle depth:2079.512461 # Seafloor depth:-2145.914659 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.28; MB_Bottom_Detect_Filter_Max_Range = 265.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2143.506918 meters looking forward 200.000000 meters along route # Maximum depth: 2145.986052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.506918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980290; longitude = -129.080516; captureRadius = 10; duration = 104; initialDepth = 2074.565569; finalDepth = 2078.506918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4791340000002 # Actual altitude: 67.4791340000002 # Commanded vehicle depth:2078.506918 # Seafloor depth:-2145.986052 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.92; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 269.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2139.565569 meters looking forward 200.000000 meters along route # Maximum depth: 2145.291317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.565569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981195; longitude = -129.079980; captureRadius = 10; duration = 104; initialDepth = 2072.579859; finalDepth = 2074.565569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.282717 # Actual altitude: 68.282717 # Commanded vehicle depth:2074.565569 # Seafloor depth:-2142.848286 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2137.579859 meters looking forward 200.000000 meters along route # Maximum depth: 2141.166029 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.579859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982100; longitude = -129.079445; captureRadius = 10; duration = 104; initialDepth = 2070.324848; finalDepth = 2072.579859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.282717 # Actual altitude: 68.282717 # Commanded vehicle depth:2072.579859 # Seafloor depth:-2139.487549 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2135.324848 meters looking forward 200.000000 meters along route # Maximum depth: 2138.923012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.324848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983006; longitude = -129.078910; captureRadius = 10; duration = 104; initialDepth = 2070.324848; finalDepth = 2070.324848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.90769 # Actual altitude: 66.90769 # Commanded vehicle depth:2070.324848 # Seafloor depth:-2136.406594 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.38; MB_Bottom_Detect_Filter_Max_Range = 267.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2135.324848 meters looking forward 200.000000 meters along route # Maximum depth: 2142.920686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2070.324848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983911; longitude = -129.078374; captureRadius = 10; duration = 104; initialDepth = 2073.237111; finalDepth = 2070.324848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4219949999997 # Actual altitude: 66.4219949999997 # Commanded vehicle depth:2070.324848 # Seafloor depth:-2136.746843 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.28; MB_Bottom_Detect_Filter_Max_Range = 265.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2138.237111 meters looking forward 200.000000 meters along route # Maximum depth: 2150.376113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2073.237111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984816; longitude = -129.077839; captureRadius = 10; duration = 104; initialDepth = 2083.567009; finalDepth = 2073.237111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.236316 # Actual altitude: 73.236316 # Commanded vehicle depth:2073.237111 # Seafloor depth:-2146.473427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.65; MB_Bottom_Detect_Filter_Max_Range = 292.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2148.567009 meters looking forward 200.000000 meters along route # Maximum depth: 2155.032620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.567009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985721; longitude = -129.077304; captureRadius = 10; duration = 104; initialDepth = 2087.733554; finalDepth = 2083.567009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.236316 # Actual altitude: 73.236316 # Commanded vehicle depth:2083.567009 # Seafloor depth:-2151.646813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.65; MB_Bottom_Detect_Filter_Max_Range = 292.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2152.733554 meters looking forward 200.000000 meters along route # Maximum depth: 2155.189496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.733554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986627; longitude = -129.076768; captureRadius = 10; duration = 104; initialDepth = 2083.773612; finalDepth = 2087.733554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.079804 # Actual altitude: 68.079804 # Commanded vehicle depth:2087.733554 # Seafloor depth:-2155.189496 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.32; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.62; MB_Bottom_Detect_Filter_Max_Range = 272.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2148.773612 meters looking forward 200.000000 meters along route # Maximum depth: 2154.126116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.773612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987532; longitude = -129.076233; captureRadius = 10; duration = 104; initialDepth = 2079.564799; finalDepth = 2083.773612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.041244 # Actual altitude: 68.041244 # Commanded vehicle depth:2083.773612 # Seafloor depth:-2151.814856 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2144.564799 meters looking forward 200.000000 meters along route # Maximum depth: 2151.025832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.564799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988437; longitude = -129.075698; captureRadius = 10; duration = 104; initialDepth = 2072.906764; finalDepth = 2079.564799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.041244 # Actual altitude: 68.041244 # Commanded vehicle depth:2079.564799 # Seafloor depth:-2147.189599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2137.906764 meters looking forward 200.000000 meters along route # Maximum depth: 2145.954202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.906764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989343; longitude = -129.075162; captureRadius = 10; duration = 104; initialDepth = 2065.917825; finalDepth = 2072.906764; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3157630000001 # Actual altitude: 70.3157630000001 # Commanded vehicle depth:2072.906764 # Seafloor depth:-2143.222527 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.06; MB_Bottom_Detect_Filter_Max_Range = 281.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2130.917825 meters looking forward 200.000000 meters along route # Maximum depth: 2141.407120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2065.917825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990248; longitude = -129.074627; captureRadius = 10; duration = 104; initialDepth = 2060.915590; finalDepth = 2065.917825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3157630000001 # Actual altitude: 70.3157630000001 # Commanded vehicle depth:2065.917825 # Seafloor depth:-2135.732458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.06; MB_Bottom_Detect_Filter_Max_Range = 281.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2125.915590 meters looking forward 200.000000 meters along route # Maximum depth: 2133.880788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2060.915590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991153; longitude = -129.074092; captureRadius = 10; duration = 104; initialDepth = 2060.574649; finalDepth = 2060.915590; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.814633 # Actual altitude: 69.814633 # Commanded vehicle depth:2060.91559 # Seafloor depth:-2129.212619 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2125.574649 meters looking forward 200.000000 meters along route # Maximum depth: 2128.028453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2060.574649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992058; longitude = -129.073556; captureRadius = 10; duration = 104; initialDepth = 2060.919919; finalDepth = 2060.574649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2970289999998 # Actual altitude: 68.2970289999998 # Commanded vehicle depth:2060.574649 # Seafloor depth:-2125.574649 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.19; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2125.919919 meters looking forward 200.000000 meters along route # Maximum depth: 2134.987752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2060.919919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992964; longitude = -129.073021; captureRadius = 10; duration = 104; initialDepth = 2064.564952; finalDepth = 2060.919919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5748680000002 # Actual altitude: 67.5748680000002 # Commanded vehicle depth:2060.919919 # Seafloor depth:-2128.494787 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.51; MB_Bottom_Detect_Filter_Max_Range = 270.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2129.564952 meters looking forward 200.000000 meters along route # Maximum depth: 2152.761251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.564952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993869; longitude = -129.072486; captureRadius = 10; duration = 104; initialDepth = 2078.372786; finalDepth = 2064.564952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6643599999998 # Actual altitude: 74.6643599999998 # Commanded vehicle depth:2064.564952 # Seafloor depth:-2139.229312 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 298.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.93; MB_Bottom_Detect_Filter_Max_Range = 298.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2143.372786 meters looking forward 200.000000 meters along route # Maximum depth: 2162.720841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.372786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994774; longitude = -129.071950; captureRadius = 10; duration = 104; initialDepth = 2094.103634; finalDepth = 2078.372786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.133006 # Actual altitude: 78.133006 # Commanded vehicle depth:2078.372786 # Seafloor depth:-2156.505792 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 312.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2159.103634 meters looking forward 200.000000 meters along route # Maximum depth: 2168.287866 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.103634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995679; longitude = -129.071415; captureRadius = 10; duration = 104; initialDepth = 2101.129580; finalDepth = 2094.103634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.133006 # Actual altitude: 78.133006 # Commanded vehicle depth:2094.103634 # Seafloor depth:-2164.565149 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 312.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 312.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2166.129580 meters looking forward 200.000000 meters along route # Maximum depth: 2173.070103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.129580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996585; longitude = -129.070880; captureRadius = 10; duration = 104; initialDepth = 2104.898103; finalDepth = 2101.129580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.461515 # Actual altitude: 70.461515 # Commanded vehicle depth:2101.12958 # Seafloor depth:-2168.929663 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2169.898103 meters looking forward 200.000000 meters along route # Maximum depth: 2181.670082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.898103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997490; longitude = -129.070344; captureRadius = 10; duration = 104; initialDepth = 2111.778481; finalDepth = 2104.898103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7961489999998 # Actual altitude: 69.7961489999998 # Commanded vehicle depth:2104.898103 # Seafloor depth:-2174.694252 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2176.778481 meters looking forward 200.000000 meters along route # Maximum depth: 2188.646211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.778481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998395; longitude = -129.069809; captureRadius = 10; duration = 104; initialDepth = 2120.022028; finalDepth = 2111.778481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.591332 # Actual altitude: 71.591332 # Commanded vehicle depth:2111.778481 # Seafloor depth:-2183.369813 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.32; MB_Bottom_Detect_Filter_Max_Range = 286.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2185.022028 meters looking forward 200.000000 meters along route # Maximum depth: 2190.917819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.022028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999301; longitude = -129.069274; captureRadius = 10; duration = 104; initialDepth = 2124.593784; finalDepth = 2120.022028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.591332 # Actual altitude: 71.591332 # Commanded vehicle depth:2120.022028 # Seafloor depth:-2190.353805 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.32; MB_Bottom_Detect_Filter_Max_Range = 286.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2189.593784 meters looking forward 200.000000 meters along route # Maximum depth: 2195.748998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.593784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000206; longitude = -129.068738; captureRadius = 10; duration = 104; initialDepth = 2125.739605; finalDepth = 2124.593784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3317770000003 # Actual altitude: 70.3317770000003 # Commanded vehicle depth:2124.593784 # Seafloor depth:-2189.593784 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.07; MB_Bottom_Detect_Filter_Max_Range = 281.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2190.739605 meters looking forward 200.000000 meters along route # Maximum depth: 2198.549565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.739605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001111; longitude = -129.068203; captureRadius = 10; duration = 104; initialDepth = 2133.295550; finalDepth = 2125.739605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.714661 # Actual altitude: 71.714661 # Commanded vehicle depth:2125.739605 # Seafloor depth:-2197.454266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.86; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.34; MB_Bottom_Detect_Filter_Max_Range = 286.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2198.295550 meters looking forward 200.000000 meters along route # Maximum depth: 2199.287526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.295550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002016; longitude = -129.067668; captureRadius = 10; duration = 104; initialDepth = 2132.985496; finalDepth = 2133.295550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.714661 # Actual altitude: 71.714661 # Commanded vehicle depth:2133.29555 # Seafloor depth:-2198.718102 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.86; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.34; MB_Bottom_Detect_Filter_Max_Range = 286.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2197.985496 meters looking forward 200.000000 meters along route # Maximum depth: 2199.500977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2132.985496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002922; longitude = -129.067132; captureRadius = 10; duration = 104; initialDepth = 2130.141789; finalDepth = 2132.985496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1858570000004 # Actual altitude: 66.1858570000004 # Commanded vehicle depth:2132.985496 # Seafloor depth:-2199.171353 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2195.141789 meters looking forward 200.000000 meters along route # Maximum depth: 2199.500977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.141789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003827; longitude = -129.066597; captureRadius = 10; duration = 104; initialDepth = 2128.006672; finalDepth = 2130.141789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.712481 # Actual altitude: 66.712481 # Commanded vehicle depth:2130.141789 # Seafloor depth:-2196.854270 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.34; MB_Bottom_Detect_Filter_Max_Range = 266.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2193.006672 meters looking forward 200.000000 meters along route # Maximum depth: 2196.254336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.006672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004732; longitude = -129.066062; captureRadius = 10; duration = 104; initialDepth = 2126.038628; finalDepth = 2128.006672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.031054 # Actual altitude: 67.031054 # Commanded vehicle depth:2128.006672 # Seafloor depth:-2195.037726 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2191.038628 meters looking forward 200.000000 meters along route # Maximum depth: 2194.593894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.038628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005637; longitude = -129.065526; captureRadius = 10; duration = 104; initialDepth = 2125.377682; finalDepth = 2126.038628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.031054 # Actual altitude: 67.031054 # Commanded vehicle depth:2126.038628 # Seafloor depth:-2192.603594 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2190.377682 meters looking forward 200.000000 meters along route # Maximum depth: 2191.810435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.377682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006543; longitude = -129.064991; captureRadius = 10; duration = 104; initialDepth = 2124.879888; finalDepth = 2125.377682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5649660000004 # Actual altitude: 66.5649660000004 # Commanded vehicle depth:2125.377682 # Seafloor depth:-2191.373959 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.31; MB_Bottom_Detect_Filter_Max_Range = 266.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2189.879888 meters looking forward 200.000000 meters along route # Maximum depth: 2191.045426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.879888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007448; longitude = -129.064456; captureRadius = 10; duration = 104; initialDepth = 2124.879888; finalDepth = 2124.879888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9962770000002 # Actual altitude: 65.9962770000002 # Commanded vehicle depth:2124.879888 # Seafloor depth:-2189.938178 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.20; MB_Bottom_Detect_Filter_Max_Range = 263.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2189.879888 meters looking forward 200.000000 meters along route # Maximum depth: 2192.201096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.879888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008353; longitude = -129.063920; captureRadius = 10; duration = 104; initialDepth = 2126.668722; finalDepth = 2124.879888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3814820000002 # Actual altitude: 66.3814820000002 # Commanded vehicle depth:2124.879888 # Seafloor depth:-2191.261370 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.28; MB_Bottom_Detect_Filter_Max_Range = 265.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2191.668722 meters looking forward 200.000000 meters along route # Maximum depth: 2195.862944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.668722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009259; longitude = -129.063385; captureRadius = 10; duration = 104; initialDepth = 2128.791089; finalDepth = 2126.668722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3814820000002 # Actual altitude: 66.3814820000002 # Commanded vehicle depth:2126.668722 # Seafloor depth:-2192.788646 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.28; MB_Bottom_Detect_Filter_Max_Range = 265.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2193.791089 meters looking forward 200.000000 meters along route # Maximum depth: 2198.979432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.791089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010164; longitude = -129.062850; captureRadius = 10; duration = 104; initialDepth = 2133.257308; finalDepth = 2128.791089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4615220000001 # Actual altitude: 68.4615220000001 # Commanded vehicle depth:2128.791089 # Seafloor depth:-2197.252611 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.69; MB_Bottom_Detect_Filter_Max_Range = 273.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2198.257308 meters looking forward 200.000000 meters along route # Maximum depth: 2200.487615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.257308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011069; longitude = -129.062314; captureRadius = 10; duration = 104; initialDepth = 2133.353381; finalDepth = 2133.257308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4615220000001 # Actual altitude: 68.4615220000001 # Commanded vehicle depth:2133.257308 # Seafloor depth:-2199.098950 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.69; MB_Bottom_Detect_Filter_Max_Range = 273.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 104.851211 meters # Minimum depth: 2198.353381 meters looking forward 200.000000 meters along route # Maximum depth: 2200.487615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.353381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011974; longitude = -129.061779; captureRadius = 10; duration = 104; initialDepth = 2131.120282; finalDepth = 2133.353381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.861218 # Actual altitude: 66.861218 # Commanded vehicle depth:2133.353381 # Seafloor depth:-2200.214599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.37; MB_Bottom_Detect_Filter_Max_Range = 267.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2196.120282 meters looking forward 200.000000 meters along route # Maximum depth: 2200.214599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.120282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.012965; longitude = -129.061193; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2105.991068; finalDepth = 2131.120282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0413390000003 # Actual altitude: 67.0413390000003 # Commanded vehicle depth:2131.120282 # Seafloor depth:-2198.161621 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.851211 meters # Minimum depth: 2170.991068 meters looking forward 200.000000 meters along route # Maximum depth: 2198.618307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.991068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.012763; longitude = -129.060440; captureRadius = 10; duration = 104; initialDepth = 2104.908325; finalDepth = 2105.991068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 89.3849840000003 # Actual altitude: 89.3849840000003 # Commanded vehicle depth:2105.991068 # Seafloor depth:-2195.376052 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 357.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.88; MB_Bottom_Detect_Filter_Max_Range = 357.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 357.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 104.851211 meters # Minimum depth: 2169.908325 meters looking forward 200.000000 meters along route # Maximum depth: 2197.208509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.908325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.012426; longitude = -129.059186; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2104.908325; finalDepth = 2104.908325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.3849840000003 # Actual altitude: 89.3849840000003 # Commanded vehicle depth:2104.908325 # Seafloor depth:-2169.908325 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 357.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.88; MB_Bottom_Detect_Filter_Max_Range = 357.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 357.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2169.908325 meters looking forward 200.000000 meters along route # Maximum depth: 2180.627865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.908325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011887; longitude = -129.059504; captureRadius = 10; duration = 104; initialDepth = 2110.424439; finalDepth = 2104.908325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0762300000001 # Actual altitude: 68.0762300000001 # Commanded vehicle depth:2104.908325 # Seafloor depth:-2172.984555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.62; MB_Bottom_Detect_Filter_Max_Range = 272.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2175.424439 meters looking forward 200.000000 meters along route # Maximum depth: 2181.886462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.424439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010979; longitude = -129.060039; captureRadius = 10; duration = 104; initialDepth = 2114.888422; finalDepth = 2110.424439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.462023 # Actual altitude: 71.462023 # Commanded vehicle depth:2110.424439 # Seafloor depth:-2181.886462 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.29; MB_Bottom_Detect_Filter_Max_Range = 285.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2179.888422 meters looking forward 200.000000 meters along route # Maximum depth: 2188.298066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.888422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010071; longitude = -129.060574; captureRadius = 10; duration = 104; initialDepth = 2117.605804; finalDepth = 2114.888422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.462023 # Actual altitude: 71.462023 # Commanded vehicle depth:2114.888422 # Seafloor depth:-2180.860745 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.29; MB_Bottom_Detect_Filter_Max_Range = 285.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2182.605804 meters looking forward 200.000000 meters along route # Maximum depth: 2194.965098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2117.605804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009163; longitude = -129.061110; captureRadius = 10; duration = 104; initialDepth = 2128.649235; finalDepth = 2117.605804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9550060000001 # Actual altitude: 73.9550060000001 # Commanded vehicle depth:2117.605804 # Seafloor depth:-2191.560810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 295.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2193.649235 meters looking forward 200.000000 meters along route # Maximum depth: 2195.134830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.649235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008255; longitude = -129.061645; captureRadius = 10; duration = 104; initialDepth = 2129.438283; finalDepth = 2128.649235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9550060000001 # Actual altitude: 73.9550060000001 # Commanded vehicle depth:2128.649235 # Seafloor depth:-2195.134830 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 295.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2194.438283 meters looking forward 200.000000 meters along route # Maximum depth: 2195.480891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.438283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007347; longitude = -129.062180; captureRadius = 10; duration = 104; initialDepth = 2129.438283; finalDepth = 2129.438283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4855950000001 # Actual altitude: 66.4855950000001 # Commanded vehicle depth:2129.438283 # Seafloor depth:-2195.480891 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 265.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2194.438283 meters looking forward 200.000000 meters along route # Maximum depth: 2196.528205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.438283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006439; longitude = -129.062716; captureRadius = 10; duration = 104; initialDepth = 2129.989908; finalDepth = 2129.438283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0426080000002 # Actual altitude: 66.0426080000002 # Commanded vehicle depth:2129.438283 # Seafloor depth:-2194.606686 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.21; MB_Bottom_Detect_Filter_Max_Range = 264.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2194.989908 meters looking forward 200.000000 meters along route # Maximum depth: 2197.481837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.989908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005531; longitude = -129.063251; captureRadius = 10; duration = 104; initialDepth = 2129.036851; finalDepth = 2129.989908; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9563929999999 # Actual altitude: 66.9563929999999 # Commanded vehicle depth:2129.989908 # Seafloor depth:-2196.946301 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2194.036851 meters looking forward 200.000000 meters along route # Maximum depth: 2197.481837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.036851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004622; longitude = -129.063786; captureRadius = 10; duration = 104; initialDepth = 2124.829151; finalDepth = 2129.036851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6451890000003 # Actual altitude: 67.6451890000003 # Commanded vehicle depth:2129.036851 # Seafloor depth:-2196.682040 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2189.829151 meters looking forward 200.000000 meters along route # Maximum depth: 2195.752891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.829151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003714; longitude = -129.064322; captureRadius = 10; duration = 104; initialDepth = 2120.084071; finalDepth = 2124.829151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2124090000002 # Actual altitude: 68.2124090000002 # Commanded vehicle depth:2124.829151 # Seafloor depth:-2193.041560 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2185.084071 meters looking forward 200.000000 meters along route # Maximum depth: 2191.797848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.084071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002806; longitude = -129.064857; captureRadius = 10; duration = 104; initialDepth = 2116.072956; finalDepth = 2120.084071; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1407769999996 # Actual altitude: 69.1407769999996 # Commanded vehicle depth:2120.084071 # Seafloor depth:-2189.224848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.83; MB_Bottom_Detect_Filter_Max_Range = 276.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2181.072956 meters looking forward 200.000000 meters along route # Maximum depth: 2188.454388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.072956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001898; longitude = -129.065392; captureRadius = 10; duration = 104; initialDepth = 2115.500477; finalDepth = 2116.072956; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1407769999996 # Actual altitude: 69.1407769999996 # Commanded vehicle depth:2116.072956 # Seafloor depth:-2184.718283 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.83; MB_Bottom_Detect_Filter_Max_Range = 276.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2180.500477 meters looking forward 200.000000 meters along route # Maximum depth: 2184.327784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.500477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000990; longitude = -129.065928; captureRadius = 10; duration = 104; initialDepth = 2115.692410; finalDepth = 2115.500477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6453270000002 # Actual altitude: 68.6453270000002 # Commanded vehicle depth:2115.500477 # Seafloor depth:-2180.500477 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2180.692410 meters looking forward 200.000000 meters along route # Maximum depth: 2181.130254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.692410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000082; longitude = -129.066463; captureRadius = 10; duration = 104; initialDepth = 2113.341889; finalDepth = 2115.692410; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.122597 # Actual altitude: 65.122597 # Commanded vehicle depth:2115.69241 # Seafloor depth:-2180.815007 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 260.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.02; MB_Bottom_Detect_Filter_Max_Range = 260.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2178.341889 meters looking forward 200.000000 meters along route # Maximum depth: 2181.392308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.341889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999174; longitude = -129.066998; captureRadius = 10; duration = 104; initialDepth = 2110.723829; finalDepth = 2113.341889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0504190000001 # Actual altitude: 68.0504190000001 # Commanded vehicle depth:2113.341889 # Seafloor depth:-2181.392308 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2175.723829 meters looking forward 200.000000 meters along route # Maximum depth: 2180.616447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.723829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998266; longitude = -129.067534; captureRadius = 10; duration = 104; initialDepth = 2104.489324; finalDepth = 2110.723829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0504190000001 # Actual altitude: 68.0504190000001 # Commanded vehicle depth:2110.723829 # Seafloor depth:-2177.044940 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2169.489324 meters looking forward 200.000000 meters along route # Maximum depth: 2176.190864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.489324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997358; longitude = -129.068069; captureRadius = 10; duration = 104; initialDepth = 2102.815820; finalDepth = 2104.489324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5819529999999 # Actual altitude: 70.5819529999999 # Commanded vehicle depth:2104.489324 # Seafloor depth:-2175.071277 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2167.815820 meters looking forward 200.000000 meters along route # Maximum depth: 2173.429265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.815820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996450; longitude = -129.068604; captureRadius = 10; duration = 104; initialDepth = 2098.193809; finalDepth = 2102.815820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5819529999999 # Actual altitude: 70.5819529999999 # Commanded vehicle depth:2102.81582 # Seafloor depth:-2168.894759 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2163.193809 meters looking forward 200.000000 meters along route # Maximum depth: 2168.512892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.193809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995541; longitude = -129.069140; captureRadius = 10; duration = 104; initialDepth = 2090.548268; finalDepth = 2098.193809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9667330000002 # Actual altitude: 68.9667330000002 # Commanded vehicle depth:2098.193809 # Seafloor depth:-2167.160542 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2155.548268 meters looking forward 200.000000 meters along route # Maximum depth: 2166.113547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.548268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994633; longitude = -129.069675; captureRadius = 10; duration = 104; initialDepth = 2084.080131; finalDepth = 2090.548268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8007969999999 # Actual altitude: 70.8007969999999 # Commanded vehicle depth:2090.548268 # Seafloor depth:-2161.349065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.16; MB_Bottom_Detect_Filter_Max_Range = 283.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2149.080131 meters looking forward 200.000000 meters along route # Maximum depth: 2159.203531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.080131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993725; longitude = -129.070210; captureRadius = 10; duration = 104; initialDepth = 2076.110037; finalDepth = 2084.080131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8007969999999 # Actual altitude: 70.8007969999999 # Commanded vehicle depth:2084.080131 # Seafloor depth:-2153.394522 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.16; MB_Bottom_Detect_Filter_Max_Range = 283.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2141.110037 meters looking forward 200.000000 meters along route # Maximum depth: 2151.429290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.110037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992817; longitude = -129.070746; captureRadius = 10; duration = 104; initialDepth = 2075.133563; finalDepth = 2076.110037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6297650000001 # Actual altitude: 70.6297650000001 # Commanded vehicle depth:2076.110037 # Seafloor depth:-2146.739802 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.13; MB_Bottom_Detect_Filter_Max_Range = 282.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2140.133563 meters looking forward 200.000000 meters along route # Maximum depth: 2143.973413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.133563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991909; longitude = -129.071281; captureRadius = 10; duration = 104; initialDepth = 2075.133563; finalDepth = 2075.133563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6297650000001 # Actual altitude: 70.6297650000001 # Commanded vehicle depth:2075.133563 # Seafloor depth:-2141.031117 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.13; MB_Bottom_Detect_Filter_Max_Range = 282.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2140.133563 meters looking forward 200.000000 meters along route # Maximum depth: 2144.057128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.133563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991001; longitude = -129.071817; captureRadius = 10; duration = 104; initialDepth = 2076.383841; finalDepth = 2075.133563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0444120000002 # Actual altitude: 66.0444120000002 # Commanded vehicle depth:2075.133563 # Seafloor depth:-2141.177975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.21; MB_Bottom_Detect_Filter_Max_Range = 264.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2141.383841 meters looking forward 200.000000 meters along route # Maximum depth: 2149.888311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.383841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990093; longitude = -129.072352; captureRadius = 10; duration = 104; initialDepth = 2083.414457; finalDepth = 2076.383841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9690560000004 # Actual altitude: 69.9690560000004 # Commanded vehicle depth:2076.383841 # Seafloor depth:-2146.352897 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.99; MB_Bottom_Detect_Filter_Max_Range = 279.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2148.414457 meters looking forward 200.000000 meters along route # Maximum depth: 2154.239950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.414457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989185; longitude = -129.072887; captureRadius = 10; duration = 104; initialDepth = 2086.027626; finalDepth = 2083.414457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9690560000004 # Actual altitude: 69.9690560000004 # Commanded vehicle depth:2083.414457 # Seafloor depth:-2150.230096 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.99; MB_Bottom_Detect_Filter_Max_Range = 279.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2151.027626 meters looking forward 200.000000 meters along route # Maximum depth: 2158.320689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.027626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988277; longitude = -129.073423; captureRadius = 10; duration = 104; initialDepth = 2091.493353; finalDepth = 2086.027626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7475469999999 # Actual altitude: 69.7475469999999 # Commanded vehicle depth:2086.027626 # Seafloor depth:-2155.775173 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2156.493353 meters looking forward 200.000000 meters along route # Maximum depth: 2158.500779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.493353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987369; longitude = -129.073958; captureRadius = 10; duration = 104; initialDepth = 2092.723489; finalDepth = 2091.493353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7475469999999 # Actual altitude: 69.7475469999999 # Commanded vehicle depth:2091.493353 # Seafloor depth:-2158.500779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2157.723489 meters looking forward 200.000000 meters along route # Maximum depth: 2158.821745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2092.723489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986461; longitude = -129.074493; captureRadius = 10; duration = 104; initialDepth = 2089.908749; finalDepth = 2092.723489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0074260000001 # Actual altitude: 67.0074260000001 # Commanded vehicle depth:2092.723489 # Seafloor depth:-2158.432646 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.03; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.40; MB_Bottom_Detect_Filter_Max_Range = 268.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2154.908749 meters looking forward 200.000000 meters along route # Maximum depth: 2158.821745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.908749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985552; longitude = -129.075029; captureRadius = 10; duration = 104; initialDepth = 2089.908749; finalDepth = 2089.908749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9824979999999 # Actual altitude: 67.9824979999999 # Commanded vehicle depth:2089.908749 # Seafloor depth:-2157.891247 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.60; MB_Bottom_Detect_Filter_Max_Range = 271.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2154.908749 meters looking forward 200.000000 meters along route # Maximum depth: 2156.835171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.908749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984644; longitude = -129.075564; captureRadius = 10; duration = 104; initialDepth = 2089.482482; finalDepth = 2089.908749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9824979999999 # Actual altitude: 67.9824979999999 # Commanded vehicle depth:2089.908749 # Seafloor depth:-2155.270489 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.60; MB_Bottom_Detect_Filter_Max_Range = 271.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2154.482482 meters looking forward 200.000000 meters along route # Maximum depth: 2156.835171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.482482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983736; longitude = -129.076099; captureRadius = 10; duration = 104; initialDepth = 2089.175605; finalDepth = 2089.482482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3564759999999 # Actual altitude: 66.3564759999999 # Commanded vehicle depth:2089.482482 # Seafloor depth:-2155.838958 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 265.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2154.175605 meters looking forward 200.000000 meters along route # Maximum depth: 2156.418767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.175605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982828; longitude = -129.076635; captureRadius = 10; duration = 104; initialDepth = 2089.175605; finalDepth = 2089.175605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3564759999999 # Actual altitude: 66.3564759999999 # Commanded vehicle depth:2089.175605 # Seafloor depth:-2154.376383 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 265.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2154.175605 meters looking forward 200.000000 meters along route # Maximum depth: 2158.603077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.175605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981920; longitude = -129.077170; captureRadius = 10; duration = 104; initialDepth = 2091.118848; finalDepth = 2089.175605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1348700000003 # Actual altitude: 69.1348700000003 # Commanded vehicle depth:2089.175605 # Seafloor depth:-2158.310475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.83; MB_Bottom_Detect_Filter_Max_Range = 276.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2156.118848 meters looking forward 200.000000 meters along route # Maximum depth: 2160.156600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.118848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981012; longitude = -129.077705; captureRadius = 10; duration = 104; initialDepth = 2091.766274; finalDepth = 2091.118848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1348700000003 # Actual altitude: 69.1348700000003 # Commanded vehicle depth:2091.118848 # Seafloor depth:-2156.118848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.83; MB_Bottom_Detect_Filter_Max_Range = 276.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2156.766274 meters looking forward 200.000000 meters along route # Maximum depth: 2161.754279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.766274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980104; longitude = -129.078241; captureRadius = 10; duration = 104; initialDepth = 2094.077462; finalDepth = 2091.766274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2996909999997 # Actual altitude: 68.2996909999997 # Commanded vehicle depth:2091.766274 # Seafloor depth:-2160.065965 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2159.077462 meters looking forward 200.000000 meters along route # Maximum depth: 2161.754279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.077462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979196; longitude = -129.078776; captureRadius = 10; duration = 104; initialDepth = 2092.083830; finalDepth = 2094.077462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2996909999997 # Actual altitude: 68.2996909999997 # Commanded vehicle depth:2094.077462 # Seafloor depth:-2160.518309 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2157.083830 meters looking forward 200.000000 meters along route # Maximum depth: 2159.485043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2092.083830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978288; longitude = -129.079311; captureRadius = 10; duration = 104; initialDepth = 2085.549306; finalDepth = 2092.083830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.083631 # Actual altitude: 67.083631 # Commanded vehicle depth:2092.08383 # Seafloor depth:-2159.167461 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.42; MB_Bottom_Detect_Filter_Max_Range = 268.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2150.549306 meters looking forward 200.000000 meters along route # Maximum depth: 2157.881488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.549306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977380; longitude = -129.079847; captureRadius = 10; duration = 104; initialDepth = 2082.843081; finalDepth = 2085.549306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.333122 # Actual altitude: 71.333122 # Commanded vehicle depth:2085.549306 # Seafloor depth:-2156.882428 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.27; MB_Bottom_Detect_Filter_Max_Range = 285.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2147.843081 meters looking forward 200.000000 meters along route # Maximum depth: 2154.505760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.843081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976472; longitude = -129.080382; captureRadius = 10; duration = 104; initialDepth = 2082.843081; finalDepth = 2082.843081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.333122 # Actual altitude: 71.333122 # Commanded vehicle depth:2082.843081 # Seafloor depth:-2149.626562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.27; MB_Bottom_Detect_Filter_Max_Range = 285.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2147.843081 meters looking forward 200.000000 meters along route # Maximum depth: 2150.362445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2082.843081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975563; longitude = -129.080917; captureRadius = 10; duration = 104; initialDepth = 2084.510857; finalDepth = 2082.843081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7834809999999 # Actual altitude: 66.7834809999999 # Commanded vehicle depth:2082.843081 # Seafloor depth:-2148.918661 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.36; MB_Bottom_Detect_Filter_Max_Range = 267.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2149.510857 meters looking forward 200.000000 meters along route # Maximum depth: 2154.482704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.510857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974655; longitude = -129.081453; captureRadius = 10; duration = 104; initialDepth = 2086.347214; finalDepth = 2084.510857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0868309999996 # Actual altitude: 66.0868309999996 # Commanded vehicle depth:2084.510857 # Seafloor depth:-2150.597688 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.22; MB_Bottom_Detect_Filter_Max_Range = 264.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2151.347214 meters looking forward 200.000000 meters along route # Maximum depth: 2154.915539 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.347214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973747; longitude = -129.081988; captureRadius = 10; duration = 104; initialDepth = 2089.343951; finalDepth = 2086.347214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5683250000002 # Actual altitude: 68.5683250000002 # Commanded vehicle depth:2086.347214 # Seafloor depth:-2154.915539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.27; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 274.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2154.343951 meters looking forward 200.000000 meters along route # Maximum depth: 2160.023876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.343951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972839; longitude = -129.082523; captureRadius = 10; duration = 104; initialDepth = 2092.136708; finalDepth = 2089.343951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5683250000002 # Actual altitude: 68.5683250000002 # Commanded vehicle depth:2089.343951 # Seafloor depth:-2155.661154 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.27; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 274.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2157.136708 meters looking forward 200.000000 meters along route # Maximum depth: 2163.920063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2092.136708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971931; longitude = -129.083059; captureRadius = 10; duration = 104; initialDepth = 2096.138328; finalDepth = 2092.136708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.455684 # Actual altitude: 68.455684 # Commanded vehicle depth:2092.136708 # Seafloor depth:-2160.592392 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.69; MB_Bottom_Detect_Filter_Max_Range = 273.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2161.138328 meters looking forward 200.000000 meters along route # Maximum depth: 2169.702212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.138328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971023; longitude = -129.083594; captureRadius = 10; duration = 104; initialDepth = 2101.646973; finalDepth = 2096.138328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.0399050000001 # Actual altitude: 69.0399050000001 # Commanded vehicle depth:2096.138328 # Seafloor depth:-2165.178233 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.16; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.81; MB_Bottom_Detect_Filter_Max_Range = 276.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2166.646973 meters looking forward 200.000000 meters along route # Maximum depth: 2175.038403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.646973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970115; longitude = -129.084129; captureRadius = 10; duration = 104; initialDepth = 2109.255970; finalDepth = 2101.646973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7618830000001 # Actual altitude: 69.7618830000001 # Commanded vehicle depth:2101.646973 # Seafloor depth:-2171.408856 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 279.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.851211 meters # Minimum depth: 2174.255970 meters looking forward 200.000000 meters along route # Maximum depth: 2183.161115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.255970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969207; longitude = -129.084665; captureRadius = 10; duration = 104; initialDepth = 2111.850024; finalDepth = 2109.255970; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7618830000001 # Actual altitude: 69.7618830000001 # Commanded vehicle depth:2109.25597 # Seafloor depth:-2176.850024 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 279.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2176.850024 meters looking forward 200.000000 meters along route # Maximum depth: 2183.600037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.850024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968175; longitude = -129.085273; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2079.835569; finalDepth = 2111.850024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7500130000003 # Actual altitude: 71.7500130000003 # Commanded vehicle depth:2111.850024 # Seafloor depth:-2183.600037 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.35; MB_Bottom_Detect_Filter_Max_Range = 287.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.851211 meters # Minimum depth: 2144.835569 meters looking forward 200.000000 meters along route # Maximum depth: 2183.600037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.835569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967875; longitude = -129.084531; captureRadius = 10; duration = 104; initialDepth = 2077.510132; finalDepth = 2079.835569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 96.326701 # Actual altitude: 96.326701 # Commanded vehicle depth:2079.835569 # Seafloor depth:-2176.162270 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 385.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.27; MB_Bottom_Detect_Filter_Max_Range = 385.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 385.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 104.851211 meters # Minimum depth: 2142.510132 meters looking forward 200.000000 meters along route # Maximum depth: 2178.211426 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.510132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967365; longitude = -129.083266; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2075.998000; finalDepth = 2077.510132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.326701 # Actual altitude: 96.326701 # Commanded vehicle depth:2077.510132 # Seafloor depth:-2142.510132 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 385.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.27; MB_Bottom_Detect_Filter_Max_Range = 385.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 385.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2140.998000 meters looking forward 200.000000 meters along route # Maximum depth: 2148.782033 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.998000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967947; longitude = -129.082925; captureRadius = 10; duration = 104; initialDepth = 2074.693870; finalDepth = 2075.998000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.081678 # Actual altitude: 68.081678 # Commanded vehicle depth:2075.998 # Seafloor depth:-2144.079678 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.62; MB_Bottom_Detect_Filter_Max_Range = 272.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2139.693870 meters looking forward 200.000000 meters along route # Maximum depth: 2143.404511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.693870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968861; longitude = -129.082390; captureRadius = 10; duration = 104; initialDepth = 2071.429605; finalDepth = 2074.693870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.081678 # Actual altitude: 68.081678 # Commanded vehicle depth:2074.69387 # Seafloor depth:-2141.145650 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.62; MB_Bottom_Detect_Filter_Max_Range = 272.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2136.429605 meters looking forward 200.000000 meters along route # Maximum depth: 2141.134029 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2071.429605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969774; longitude = -129.081854; captureRadius = 10; duration = 104; initialDepth = 2068.782386; finalDepth = 2071.429605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5517170000003 # Actual altitude: 66.5517170000003 # Commanded vehicle depth:2071.429605 # Seafloor depth:-2137.981322 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.31; MB_Bottom_Detect_Filter_Max_Range = 266.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2133.782386 meters looking forward 200.000000 meters along route # Maximum depth: 2136.565843 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.782386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970688; longitude = -129.081319; captureRadius = 10; duration = 104; initialDepth = 2067.709795; finalDepth = 2068.782386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5517170000003 # Actual altitude: 66.5517170000003 # Commanded vehicle depth:2068.782386 # Seafloor depth:-2135.278602 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.31; MB_Bottom_Detect_Filter_Max_Range = 266.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2132.709795 meters looking forward 200.000000 meters along route # Maximum depth: 2134.111468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.709795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971602; longitude = -129.080784; captureRadius = 10; duration = 104; initialDepth = 2067.709795; finalDepth = 2067.709795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.496216 # Actual altitude: 66.496216 # Commanded vehicle depth:2067.709795 # Seafloor depth:-2133.673465 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 265.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2132.709795 meters looking forward 200.000000 meters along route # Maximum depth: 2139.328386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.709795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972515; longitude = -129.080248; captureRadius = 10; duration = 104; initialDepth = 2071.183231; finalDepth = 2067.709795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9636699999996 # Actual altitude: 65.9636699999996 # Commanded vehicle depth:2067.709795 # Seafloor depth:-2133.608279 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.19; MB_Bottom_Detect_Filter_Max_Range = 263.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2136.183231 meters looking forward 200.000000 meters along route # Maximum depth: 2145.351443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2071.183231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973429; longitude = -129.079713; captureRadius = 10; duration = 104; initialDepth = 2076.418443; finalDepth = 2071.183231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8855290000001 # Actual altitude: 68.8855290000001 # Commanded vehicle depth:2071.183231 # Seafloor depth:-2140.068760 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.78; MB_Bottom_Detect_Filter_Max_Range = 275.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2141.418443 meters looking forward 200.000000 meters along route # Maximum depth: 2149.973781 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2076.418443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974343; longitude = -129.079177; captureRadius = 10; duration = 104; initialDepth = 2084.542148; finalDepth = 2076.418443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.322838 # Actual altitude: 71.322838 # Commanded vehicle depth:2076.418443 # Seafloor depth:-2147.741281 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.29; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.26; MB_Bottom_Detect_Filter_Max_Range = 285.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2149.542148 meters looking forward 200.000000 meters along route # Maximum depth: 2151.855489 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.542148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975256; longitude = -129.078642; captureRadius = 10; duration = 104; initialDepth = 2085.817234; finalDepth = 2084.542148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.322838 # Actual altitude: 71.322838 # Commanded vehicle depth:2084.542148 # Seafloor depth:-2149.545266 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.29; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.26; MB_Bottom_Detect_Filter_Max_Range = 285.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2150.817234 meters looking forward 200.000000 meters along route # Maximum depth: 2156.687195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.817234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976170; longitude = -129.078107; captureRadius = 10; duration = 104; initialDepth = 2089.758570; finalDepth = 2085.817234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6612849999997 # Actual altitude: 66.6612849999997 # Commanded vehicle depth:2085.817234 # Seafloor depth:-2152.478519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.65; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 266.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2154.758570 meters looking forward 200.000000 meters along route # Maximum depth: 2157.816960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.758570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977084; longitude = -129.077571; captureRadius = 10; duration = 104; initialDepth = 2091.823482; finalDepth = 2089.758570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6612849999997 # Actual altitude: 66.6612849999997 # Commanded vehicle depth:2089.75857 # Seafloor depth:-2156.249315 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.65; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 266.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2156.823482 meters looking forward 200.000000 meters along route # Maximum depth: 2160.253462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.823482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977997; longitude = -129.077036; captureRadius = 10; duration = 104; initialDepth = 2093.440899; finalDepth = 2091.823482; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4907450000001 # Actual altitude: 66.4907450000001 # Commanded vehicle depth:2091.823482 # Seafloor depth:-2157.953789 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.30; MB_Bottom_Detect_Filter_Max_Range = 265.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2158.440899 meters looking forward 200.000000 meters along route # Maximum depth: 2160.351097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.440899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978911; longitude = -129.076501; captureRadius = 10; duration = 104; initialDepth = 2090.921912; finalDepth = 2093.440899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.437684 # Actual altitude: 66.437684 # Commanded vehicle depth:2093.440899 # Seafloor depth:-2159.878583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.75; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.29; MB_Bottom_Detect_Filter_Max_Range = 265.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2155.921912 meters looking forward 200.000000 meters along route # Maximum depth: 2160.351097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.921912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979824; longitude = -129.075965; captureRadius = 10; duration = 104; initialDepth = 2089.554903; finalDepth = 2090.921912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2786150000002 # Actual altitude: 67.2786150000002 # Commanded vehicle depth:2090.921912 # Seafloor depth:-2158.200527 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 269.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2154.554903 meters looking forward 200.000000 meters along route # Maximum depth: 2157.957663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.554903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980738; longitude = -129.075430; captureRadius = 10; duration = 104; initialDepth = 2085.356552; finalDepth = 2089.554903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5218169999998 # Actual altitude: 67.5218169999998 # Commanded vehicle depth:2089.554903 # Seafloor depth:-2157.076720 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.09; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 270.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2150.356552 meters looking forward 200.000000 meters along route # Maximum depth: 2157.957663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.356552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981652; longitude = -129.074895; captureRadius = 10; duration = 104; initialDepth = 2085.356552; finalDepth = 2085.356552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5218169999998 # Actual altitude: 67.5218169999998 # Commanded vehicle depth:2085.356552 # Seafloor depth:-2152.233119 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.09; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 270.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2150.356552 meters looking forward 200.000000 meters along route # Maximum depth: 2154.427052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.356552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982565; longitude = -129.074359; captureRadius = 10; duration = 104; initialDepth = 2081.452797; finalDepth = 2085.356552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1727539999997 # Actual altitude: 67.1727539999997 # Commanded vehicle depth:2085.356552 # Seafloor depth:-2152.529306 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.43; MB_Bottom_Detect_Filter_Max_Range = 268.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2146.452797 meters looking forward 200.000000 meters along route # Maximum depth: 2154.427052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.452797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983479; longitude = -129.073824; captureRadius = 10; duration = 104; initialDepth = 2080.596675; finalDepth = 2081.452797; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1717910000002 # Actual altitude: 71.1717910000002 # Commanded vehicle depth:2081.452797 # Seafloor depth:-2152.624588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.23; MB_Bottom_Detect_Filter_Max_Range = 284.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2145.596675 meters looking forward 200.000000 meters along route # Maximum depth: 2150.748766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.596675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984393; longitude = -129.073289; captureRadius = 10; duration = 104; initialDepth = 2079.903036; finalDepth = 2080.596675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1717910000002 # Actual altitude: 71.1717910000002 # Commanded vehicle depth:2080.596675 # Seafloor depth:-2146.761700 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.23; MB_Bottom_Detect_Filter_Max_Range = 284.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2144.903036 meters looking forward 200.000000 meters along route # Maximum depth: 2147.172810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.903036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985306; longitude = -129.072753; captureRadius = 10; duration = 104; initialDepth = 2080.273219; finalDepth = 2079.903036; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1650250000002 # Actual altitude: 66.1650250000002 # Commanded vehicle depth:2079.903036 # Seafloor depth:-2144.903036 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2145.273219 meters looking forward 200.000000 meters along route # Maximum depth: 2150.365803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2080.273219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986220; longitude = -129.072218; captureRadius = 10; duration = 104; initialDepth = 2081.166292; finalDepth = 2080.273219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3730269999996 # Actual altitude: 67.3730269999996 # Commanded vehicle depth:2080.273219 # Seafloor depth:-2147.646246 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.47; MB_Bottom_Detect_Filter_Max_Range = 269.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2146.166292 meters looking forward 200.000000 meters along route # Maximum depth: 2150.365803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.166292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987133; longitude = -129.071683; captureRadius = 10; duration = 104; initialDepth = 2079.043203; finalDepth = 2081.166292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.951192 # Actual altitude: 68.951192 # Commanded vehicle depth:2081.166292 # Seafloor depth:-2150.117484 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2144.043203 meters looking forward 200.000000 meters along route # Maximum depth: 2149.640833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.043203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988047; longitude = -129.071147; captureRadius = 10; duration = 104; initialDepth = 2079.043203; finalDepth = 2079.043203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.951192 # Actual altitude: 68.951192 # Commanded vehicle depth:2079.043203 # Seafloor depth:-2144.708166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2144.043203 meters looking forward 200.000000 meters along route # Maximum depth: 2146.500613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.043203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988961; longitude = -129.070612; captureRadius = 10; duration = 104; initialDepth = 2079.776428; finalDepth = 2079.043203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.45741 # Actual altitude: 67.45741 # Commanded vehicle depth:2079.043203 # Seafloor depth:-2146.500613 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2144.776428 meters looking forward 200.000000 meters along route # Maximum depth: 2146.172556 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.776428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989874; longitude = -129.070077; captureRadius = 10; duration = 104; initialDepth = 2079.776428; finalDepth = 2079.776428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.45741 # Actual altitude: 67.45741 # Commanded vehicle depth:2079.776428 # Seafloor depth:-2145.694295 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2144.776428 meters looking forward 200.000000 meters along route # Maximum depth: 2148.465719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.776428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990788; longitude = -129.069541; captureRadius = 10; duration = 104; initialDepth = 2081.859273; finalDepth = 2079.776428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9178669999997 # Actual altitude: 65.9178669999997 # Commanded vehicle depth:2079.776428 # Seafloor depth:-2145.583797 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.18; MB_Bottom_Detect_Filter_Max_Range = 263.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2146.859273 meters looking forward 200.000000 meters along route # Maximum depth: 2156.499531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.859273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991702; longitude = -129.069006; captureRadius = 10; duration = 104; initialDepth = 2086.130212; finalDepth = 2081.859273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.477046 # Actual altitude: 67.477046 # Commanded vehicle depth:2081.859273 # Seafloor depth:-2149.336319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.91; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 269.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2151.130212 meters looking forward 200.000000 meters along route # Maximum depth: 2161.387527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.130212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992615; longitude = -129.068471; captureRadius = 10; duration = 104; initialDepth = 2093.366728; finalDepth = 2086.130212; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.314468 # Actual altitude: 71.314468 # Commanded vehicle depth:2086.130212 # Seafloor depth:-2157.444680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.26; MB_Bottom_Detect_Filter_Max_Range = 285.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2158.366728 meters looking forward 200.000000 meters along route # Maximum depth: 2162.236346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.366728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993529; longitude = -129.067935; captureRadius = 10; duration = 104; initialDepth = 2095.715924; finalDepth = 2093.366728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.314468 # Actual altitude: 71.314468 # Commanded vehicle depth:2093.366728 # Seafloor depth:-2162.236346 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.26; MB_Bottom_Detect_Filter_Max_Range = 285.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2160.715924 meters looking forward 200.000000 meters along route # Maximum depth: 2162.061732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.715924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994443; longitude = -129.067400; captureRadius = 10; duration = 104; initialDepth = 2094.696324; finalDepth = 2095.715924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8696180000002 # Actual altitude: 68.8696180000002 # Commanded vehicle depth:2095.715924 # Seafloor depth:-2161.734957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.48; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.77; MB_Bottom_Detect_Filter_Max_Range = 275.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2159.696324 meters looking forward 200.000000 meters along route # Maximum depth: 2162.061732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.696324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995356; longitude = -129.066865; captureRadius = 10; duration = 104; initialDepth = 2094.696324; finalDepth = 2094.696324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.019033 # Actual altitude: 66.019033 # Commanded vehicle depth:2094.696324 # Seafloor depth:-2159.764431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.08; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.20; MB_Bottom_Detect_Filter_Max_Range = 264.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2159.696324 meters looking forward 200.000000 meters along route # Maximum depth: 2164.626370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.696324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996270; longitude = -129.066329; captureRadius = 10; duration = 104; initialDepth = 2099.224292; finalDepth = 2094.696324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.286936 # Actual altitude: 68.286936 # Commanded vehicle depth:2094.696324 # Seafloor depth:-2162.983260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2164.224292 meters looking forward 200.000000 meters along route # Maximum depth: 2166.614496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.224292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997183; longitude = -129.065794; captureRadius = 10; duration = 104; initialDepth = 2100.263106; finalDepth = 2099.224292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.286936 # Actual altitude: 68.286936 # Commanded vehicle depth:2099.224292 # Seafloor depth:-2164.377006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2165.263106 meters looking forward 200.000000 meters along route # Maximum depth: 2167.035627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.263106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998097; longitude = -129.065259; captureRadius = 10; duration = 104; initialDepth = 2101.317338; finalDepth = 2100.263106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3471760000002 # Actual altitude: 66.3471760000002 # Commanded vehicle depth:2100.263106 # Seafloor depth:-2166.610282 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 265.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2166.317338 meters looking forward 200.000000 meters along route # Maximum depth: 2173.736296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.317338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999011; longitude = -129.064723; captureRadius = 10; duration = 104; initialDepth = 2104.863024; finalDepth = 2101.317338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8473430000004 # Actual altitude: 67.8473430000004 # Commanded vehicle depth:2101.317338 # Seafloor depth:-2169.164681 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2169.863024 meters looking forward 200.000000 meters along route # Maximum depth: 2173.736296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.863024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999924; longitude = -129.064188; captureRadius = 10; duration = 104; initialDepth = 2104.863024; finalDepth = 2104.863024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4169509999997 # Actual altitude: 68.4169509999997 # Commanded vehicle depth:2104.863024 # Seafloor depth:-2173.279975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 273.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2169.863024 meters looking forward 200.000000 meters along route # Maximum depth: 2171.544181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.863024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000838; longitude = -129.063653; captureRadius = 10; duration = 104; initialDepth = 2105.563795; finalDepth = 2104.863024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4169509999997 # Actual altitude: 68.4169509999997 # Commanded vehicle depth:2104.863024 # Seafloor depth:-2170.828269 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 273.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2170.563795 meters looking forward 200.000000 meters along route # Maximum depth: 2172.482231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.563795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001752; longitude = -129.063117; captureRadius = 10; duration = 104; initialDepth = 2106.525609; finalDepth = 2105.563795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8552079999999 # Actual altitude: 66.8552079999999 # Commanded vehicle depth:2105.563795 # Seafloor depth:-2172.419003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.42; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.37; MB_Bottom_Detect_Filter_Max_Range = 267.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2171.525609 meters looking forward 200.000000 meters along route # Maximum depth: 2175.476835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.525609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002665; longitude = -129.062582; captureRadius = 10; duration = 104; initialDepth = 2107.504783; finalDepth = 2106.525609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8552079999999 # Actual altitude: 66.8552079999999 # Commanded vehicle depth:2106.525609 # Seafloor depth:-2171.813561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.42; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.37; MB_Bottom_Detect_Filter_Max_Range = 267.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2172.504783 meters looking forward 200.000000 meters along route # Maximum depth: 2183.403482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2107.504783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003579; longitude = -129.062047; captureRadius = 10; duration = 104; initialDepth = 2114.747533; finalDepth = 2107.504783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.167841 # Actual altitude: 70.167841 # Commanded vehicle depth:2107.504783 # Seafloor depth:-2177.672624 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.03; MB_Bottom_Detect_Filter_Max_Range = 280.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2179.747533 meters looking forward 200.000000 meters along route # Maximum depth: 2190.116698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.747533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004493; longitude = -129.061511; captureRadius = 10; duration = 104; initialDepth = 2122.502051; finalDepth = 2114.747533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4034199999996 # Actual altitude: 70.4034199999996 # Commanded vehicle depth:2114.747533 # Seafloor depth:-2185.150953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.08; MB_Bottom_Detect_Filter_Max_Range = 281.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2187.502051 meters looking forward 200.000000 meters along route # Maximum depth: 2190.740643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.502051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005406; longitude = -129.060976; captureRadius = 10; duration = 104; initialDepth = 2125.410344; finalDepth = 2122.502051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4034199999996 # Actual altitude: 70.4034199999996 # Commanded vehicle depth:2122.502051 # Seafloor depth:-2190.566766 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.08; MB_Bottom_Detect_Filter_Max_Range = 281.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2190.410344 meters looking forward 200.000000 meters along route # Maximum depth: 2194.693580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.410344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006320; longitude = -129.060440; captureRadius = 10; duration = 104; initialDepth = 2128.270739; finalDepth = 2125.410344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.064715 # Actual altitude: 68.064715 # Commanded vehicle depth:2125.410344 # Seafloor depth:-2191.902399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2193.270739 meters looking forward 200.000000 meters along route # Maximum depth: 2198.748722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.270739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007233; longitude = -129.059905; captureRadius = 10; duration = 104; initialDepth = 2131.352946; finalDepth = 2128.270739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0688129999999 # Actual altitude: 67.0688129999999 # Commanded vehicle depth:2128.270739 # Seafloor depth:-2195.339552 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2196.352946 meters looking forward 200.000000 meters along route # Maximum depth: 2199.119531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.352946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008147; longitude = -129.059370; captureRadius = 10; duration = 104; initialDepth = 2128.822506; finalDepth = 2131.352946; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7665849999998 # Actual altitude: 67.7665849999998 # Commanded vehicle depth:2131.352946 # Seafloor depth:-2199.119531 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2193.822506 meters looking forward 200.000000 meters along route # Maximum depth: 2198.789579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.822506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009061; longitude = -129.058834; captureRadius = 10; duration = 104; initialDepth = 2126.201809; finalDepth = 2128.822506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7665849999998 # Actual altitude: 67.7665849999998 # Commanded vehicle depth:2128.822506 # Seafloor depth:-2195.195049 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2191.201809 meters looking forward 200.000000 meters along route # Maximum depth: 2195.733599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.201809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009974; longitude = -129.058299; captureRadius = 10; duration = 104; initialDepth = 2124.618572; finalDepth = 2126.201809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.53179 # Actual altitude: 69.53179 # Commanded vehicle depth:2126.201809 # Seafloor depth:-2195.733599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.91; MB_Bottom_Detect_Filter_Max_Range = 278.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.851211 meters # Minimum depth: 2189.618572 meters looking forward 200.000000 meters along route # Maximum depth: 2192.261685 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.618572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010888; longitude = -129.057764; captureRadius = 10; duration = 104; initialDepth = 2124.618572; finalDepth = 2124.618572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.53179 # Actual altitude: 69.53179 # Commanded vehicle depth:2124.618572 # Seafloor depth:-2190.185249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.91; MB_Bottom_Detect_Filter_Max_Range = 278.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2189.618572 meters looking forward 200.000000 meters along route # Maximum depth: 2198.514504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.618572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011886; longitude = -129.057179; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2124.964305; finalDepth = 2124.618572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6334420000003 # Actual altitude: 65.6334420000003 # Commanded vehicle depth:2124.618572 # Seafloor depth:-2190.252014 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 262.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.13; MB_Bottom_Detect_Filter_Max_Range = 262.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.851211 meters # Minimum depth: 2189.964305 meters looking forward 200.000000 meters along route # Maximum depth: 2200.343931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.964305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011603; longitude = -129.056158; captureRadius = 10; duration = 104; initialDepth = 2125.784054; finalDepth = 2124.964305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 73.7796619999999 # Actual altitude: 73.7796619999999 # Commanded vehicle depth:2124.964305 # Seafloor depth:-2198.743967 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.76; MB_Bottom_Detect_Filter_Max_Range = 295.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 104.851211 meters # Minimum depth: 2190.784054 meters looking forward 200.000000 meters along route # Maximum depth: 2200.343931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.784054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011256; longitude = -129.054905; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2132.216874; finalDepth = 2125.784054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.526981 # Actual altitude: 74.526981 # Commanded vehicle depth:2125.784054 # Seafloor depth:-2200.311035 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 298.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.91; MB_Bottom_Detect_Filter_Max_Range = 298.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2199.347388 meters looking forward 200.000000 meters along route # Maximum depth: 2202.172605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2132.216874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.011077; longitude = -129.055011; captureRadius = 10; duration = 104; initialDepth = 2129.820194; finalDepth = 2132.216874; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.526981 # Actual altitude: 74.526981 # Commanded vehicle depth:2132.2168736 # Seafloor depth:-2200.549141 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 298.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.91; MB_Bottom_Detect_Filter_Max_Range = 298.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2194.820194 meters looking forward 200.000000 meters along route # Maximum depth: 2202.172605 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.820194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.010177; longitude = -129.055543; captureRadius = 10; duration = 104; initialDepth = 2129.820194; finalDepth = 2129.820194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5778730000002 # Actual altitude: 68.5778730000002 # Commanded vehicle depth:2129.820194 # Seafloor depth:-2198.398067 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.72; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2194.820194 meters looking forward 200.000000 meters along route # Maximum depth: 2197.193149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.820194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.009278; longitude = -129.056075; captureRadius = 10; duration = 104; initialDepth = 2130.344518; finalDepth = 2129.820194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5778730000002 # Actual altitude: 68.5778730000002 # Commanded vehicle depth:2129.820194 # Seafloor depth:-2196.081622 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.72; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2195.344518 meters looking forward 200.000000 meters along route # Maximum depth: 2198.596291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.344518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.008378; longitude = -129.056607; captureRadius = 10; duration = 104; initialDepth = 2130.470391; finalDepth = 2130.344518; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2614280000003 # Actual altitude: 66.2614280000003 # Commanded vehicle depth:2130.344518 # Seafloor depth:-2195.344518 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.25; MB_Bottom_Detect_Filter_Max_Range = 265.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2195.470391 meters looking forward 200.000000 meters along route # Maximum depth: 2198.596291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.470391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.007479; longitude = -129.057139; captureRadius = 10; duration = 104; initialDepth = 2128.329214; finalDepth = 2130.470391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0736100000004 # Actual altitude: 68.0736100000004 # Commanded vehicle depth:2130.470391 # Seafloor depth:-2198.544001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.29; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2193.329214 meters looking forward 200.000000 meters along route # Maximum depth: 2198.485881 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.329214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.006580; longitude = -129.057672; captureRadius = 10; duration = 104; initialDepth = 2124.881002; finalDepth = 2128.329214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.042152 # Actual altitude: 69.042152 # Commanded vehicle depth:2128.329214 # Seafloor depth:-2197.371366 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.81; MB_Bottom_Detect_Filter_Max_Range = 276.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2189.881002 meters looking forward 200.000000 meters along route # Maximum depth: 2196.943567 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.881002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.005680; longitude = -129.058204; captureRadius = 10; duration = 104; initialDepth = 2122.547977; finalDepth = 2124.881002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.042152 # Actual altitude: 69.042152 # Commanded vehicle depth:2124.881002 # Seafloor depth:-2193.164638 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.81; MB_Bottom_Detect_Filter_Max_Range = 276.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2187.547977 meters looking forward 200.000000 meters along route # Maximum depth: 2192.579791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.547977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.004781; longitude = -129.058736; captureRadius = 10; duration = 104; initialDepth = 2120.489248; finalDepth = 2122.547977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2836360000001 # Actual altitude: 68.2836360000001 # Commanded vehicle depth:2122.547977 # Seafloor depth:-2190.380779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2185.489248 meters looking forward 200.000000 meters along route # Maximum depth: 2190.398771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.489248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.003881; longitude = -129.059268; captureRadius = 10; duration = 104; initialDepth = 2118.876957; finalDepth = 2120.489248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8328019999999 # Actual altitude: 67.8328019999999 # Commanded vehicle depth:2120.489248 # Seafloor depth:-2187.342917 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.33; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2183.876957 meters looking forward 200.000000 meters along route # Maximum depth: 2186.574330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.876957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002982; longitude = -129.059800; captureRadius = 10; duration = 104; initialDepth = 2118.800465; finalDepth = 2118.876957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8536690000001 # Actual altitude: 66.8536690000001 # Commanded vehicle depth:2118.876957 # Seafloor depth:-2185.305848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.41; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.37; MB_Bottom_Detect_Filter_Max_Range = 267.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2183.800465 meters looking forward 200.000000 meters along route # Maximum depth: 2185.044357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.800465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.002083; longitude = -129.060332; captureRadius = 10; duration = 104; initialDepth = 2116.365710; finalDepth = 2118.800465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.428891 # Actual altitude: 66.428891 # Commanded vehicle depth:2118.800465 # Seafloor depth:-2184.568797 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.72; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.29; MB_Bottom_Detect_Filter_Max_Range = 265.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2181.365710 meters looking forward 200.000000 meters along route # Maximum depth: 2185.044357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.365710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.001183; longitude = -129.060864; captureRadius = 10; duration = 104; initialDepth = 2114.891011; finalDepth = 2116.365710; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3897430000002 # Actual altitude: 67.3897430000002 # Commanded vehicle depth:2116.36571 # Seafloor depth:-2183.755453 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.48; MB_Bottom_Detect_Filter_Max_Range = 269.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2179.891011 meters looking forward 200.000000 meters along route # Maximum depth: 2183.731562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.891011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 48.000316; longitude = -129.061377; captureRadius = 10; duration = 104; initialDepth = 2111.300231; finalDepth = 2114.891011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3897430000002 # Actual altitude: 67.3897430000002 # Commanded vehicle depth:2114.891011 # Seafloor depth:-2181.110819 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.48; MB_Bottom_Detect_Filter_Max_Range = 269.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2176.300231 meters looking forward 200.000000 meters along route # Maximum depth: 2180.744980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.300231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.999474; longitude = -129.061875; captureRadius = 10; duration = 104; initialDepth = 2104.018546; finalDepth = 2111.300231; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3442279999999 # Actual altitude: 68.3442279999999 # Commanded vehicle depth:2111.300231 # Seafloor depth:-2179.644459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.38; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.67; MB_Bottom_Detect_Filter_Max_Range = 273.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2169.018546 meters looking forward 200.000000 meters along route # Maximum depth: 2178.789508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.018546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.998575; longitude = -129.062407; captureRadius = 10; duration = 104; initialDepth = 2103.562761; finalDepth = 2104.018546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4754750000002 # Actual altitude: 71.4754750000002 # Commanded vehicle depth:2104.018546 # Seafloor depth:-2175.494021 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.30; MB_Bottom_Detect_Filter_Max_Range = 285.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2168.562761 meters looking forward 200.000000 meters along route # Maximum depth: 2173.770105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.562761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.997676; longitude = -129.062939; captureRadius = 10; duration = 104; initialDepth = 2100.871667; finalDepth = 2103.562761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4754750000002 # Actual altitude: 71.4754750000002 # Commanded vehicle depth:2103.562761 # Seafloor depth:-2168.790801 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.30; MB_Bottom_Detect_Filter_Max_Range = 285.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2165.871667 meters looking forward 200.000000 meters along route # Maximum depth: 2168.755686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.871667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.996776; longitude = -129.063471; captureRadius = 10; duration = 104; initialDepth = 2098.008037; finalDepth = 2100.871667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7762849999999 # Actual altitude: 67.7762849999999 # Commanded vehicle depth:2100.871667 # Seafloor depth:-2168.647952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2163.008037 meters looking forward 200.000000 meters along route # Maximum depth: 2168.148054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.008037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.995877; longitude = -129.064004; captureRadius = 10; duration = 104; initialDepth = 2095.183887; finalDepth = 2098.008037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7762849999999 # Actual altitude: 67.7762849999999 # Commanded vehicle depth:2098.008037 # Seafloor depth:-2165.638797 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2160.183887 meters looking forward 200.000000 meters along route # Maximum depth: 2165.207043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.183887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994977; longitude = -129.064536; captureRadius = 10; duration = 104; initialDepth = 2091.877473; finalDepth = 2095.183887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6596839999997 # Actual altitude: 67.6596839999997 # Commanded vehicle depth:2095.183887 # Seafloor depth:-2162.843571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2156.877473 meters looking forward 200.000000 meters along route # Maximum depth: 2162.286872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.877473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.994078; longitude = -129.065068; captureRadius = 10; duration = 104; initialDepth = 2090.955439; finalDepth = 2091.877473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.18631 # Actual altitude: 68.18631 # Commanded vehicle depth:2091.877473 # Seafloor depth:-2160.063783 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.75; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2155.955439 meters looking forward 200.000000 meters along route # Maximum depth: 2159.307031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.955439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.993179; longitude = -129.065600; captureRadius = 10; duration = 104; initialDepth = 2088.669638; finalDepth = 2090.955439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.18631 # Actual altitude: 68.18631 # Commanded vehicle depth:2090.955439 # Seafloor depth:-2156.969366 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.75; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2153.669638 meters looking forward 200.000000 meters along route # Maximum depth: 2157.068328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.669638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.992279; longitude = -129.066132; captureRadius = 10; duration = 104; initialDepth = 2072.393735; finalDepth = 2088.669638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0622370000001 # Actual altitude: 67.0622370000001 # Commanded vehicle depth:2088.669638 # Seafloor depth:-2155.731875 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2137.393735 meters looking forward 200.000000 meters along route # Maximum depth: 2155.306948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.393735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.991380; longitude = -129.066664; captureRadius = 10; duration = 104; initialDepth = 2066.511602; finalDepth = 2072.393735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0561849999999 # Actual altitude: 80.0561849999999 # Commanded vehicle depth:2072.393735 # Seafloor depth:-2152.449920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 320.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2131.511602 meters looking forward 200.000000 meters along route # Maximum depth: 2149.297304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.511602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.990480; longitude = -129.067196; captureRadius = 10; duration = 104; initialDepth = 2066.511602; finalDepth = 2066.511602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0561849999999 # Actual altitude: 80.0561849999999 # Commanded vehicle depth:2066.511602 # Seafloor depth:-2135.901232 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 320.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 320.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2131.511602 meters looking forward 200.000000 meters along route # Maximum depth: 2137.239825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.511602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.989581; longitude = -129.067728; captureRadius = 10; duration = 104; initialDepth = 2067.354893; finalDepth = 2066.511602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3896300000001 # Actual altitude: 69.3896300000001 # Commanded vehicle depth:2066.511602 # Seafloor depth:-2131.723775 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.88; MB_Bottom_Detect_Filter_Max_Range = 277.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2132.354893 meters looking forward 200.000000 meters along route # Maximum depth: 2138.542419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.354893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.988682; longitude = -129.068260; captureRadius = 10; duration = 104; initialDepth = 2067.410265; finalDepth = 2067.354893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.433685 # Actual altitude: 70.433685 # Commanded vehicle depth:2067.354893 # Seafloor depth:-2137.788578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.73; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2132.410265 meters looking forward 200.000000 meters along route # Maximum depth: 2138.542419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.410265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.987782; longitude = -129.068792; captureRadius = 10; duration = 104; initialDepth = 2066.286465; finalDepth = 2067.410265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.433685 # Actual altitude: 70.433685 # Commanded vehicle depth:2067.410265 # Seafloor depth:-2136.361233 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.73; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2131.286465 meters looking forward 200.000000 meters along route # Maximum depth: 2135.379493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.286465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.986883; longitude = -129.069325; captureRadius = 10; duration = 104; initialDepth = 2064.981365; finalDepth = 2066.286465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9509680000001 # Actual altitude: 68.9509680000001 # Commanded vehicle depth:2066.286465 # Seafloor depth:-2132.502711 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2129.981365 meters looking forward 200.000000 meters along route # Maximum depth: 2132.504471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.981365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985983; longitude = -129.069857; captureRadius = 10; duration = 104; initialDepth = 2064.981365; finalDepth = 2064.981365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.216246 # Actual altitude: 66.216246 # Commanded vehicle depth:2064.981365 # Seafloor depth:-2131.146511 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.86; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2129.981365 meters looking forward 200.000000 meters along route # Maximum depth: 2130.964784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.981365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.985084; longitude = -129.070389; captureRadius = 10; duration = 104; initialDepth = 2064.393415; finalDepth = 2064.981365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1651459999998 # Actual altitude: 66.1651459999998 # Commanded vehicle depth:2064.981365 # Seafloor depth:-2130.891470 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2129.393415 meters looking forward 200.000000 meters along route # Maximum depth: 2130.957664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.393415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.984184; longitude = -129.070921; captureRadius = 10; duration = 104; initialDepth = 2064.105334; finalDepth = 2064.393415; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.549469 # Actual altitude: 66.549469 # Commanded vehicle depth:2064.393415 # Seafloor depth:-2130.942884 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.31; MB_Bottom_Detect_Filter_Max_Range = 266.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2129.105334 meters looking forward 200.000000 meters along route # Maximum depth: 2130.732917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2064.105334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.983285; longitude = -129.071453; captureRadius = 10; duration = 104; initialDepth = 2061.256550; finalDepth = 2064.105334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.549469 # Actual altitude: 66.549469 # Commanded vehicle depth:2064.105334 # Seafloor depth:-2129.320693 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.31; MB_Bottom_Detect_Filter_Max_Range = 266.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2126.256550 meters looking forward 200.000000 meters along route # Maximum depth: 2129.634461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2061.256550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.982386; longitude = -129.071985; captureRadius = 10; duration = 104; initialDepth = 2059.168930; finalDepth = 2061.256550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7792709999999 # Actual altitude: 67.7792709999999 # Commanded vehicle depth:2061.25655 # Seafloor depth:-2129.035821 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2124.168930 meters looking forward 200.000000 meters along route # Maximum depth: 2128.930724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2059.168930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.981486; longitude = -129.072517; captureRadius = 10; duration = 104; initialDepth = 2050.880196; finalDepth = 2059.168930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7792709999999 # Actual altitude: 67.7792709999999 # Commanded vehicle depth:2059.16893 # Seafloor depth:-2126.201087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2115.880196 meters looking forward 200.000000 meters along route # Maximum depth: 2126.031553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.880196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.980587; longitude = -129.073049; captureRadius = 10; duration = 104; initialDepth = 2045.287213; finalDepth = 2050.880196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0780220000001 # Actual altitude: 73.0780220000001 # Commanded vehicle depth:2050.880196 # Seafloor depth:-2123.958218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.62; MB_Bottom_Detect_Filter_Max_Range = 292.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2110.287213 meters looking forward 200.000000 meters along route # Maximum depth: 2123.177081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.287213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.979687; longitude = -129.073581; captureRadius = 10; duration = 104; initialDepth = 2038.139622; finalDepth = 2045.287213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0780220000001 # Actual altitude: 73.0780220000001 # Commanded vehicle depth:2045.287213 # Seafloor depth:-2115.437897 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.62; MB_Bottom_Detect_Filter_Max_Range = 292.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2103.139622 meters looking forward 200.000000 meters along route # Maximum depth: 2113.447566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.139622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.978788; longitude = -129.074113; captureRadius = 10; duration = 104; initialDepth = 2031.191507; finalDepth = 2038.139622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.533406 # Actual altitude: 72.533406 # Commanded vehicle depth:2038.139622 # Seafloor depth:-2110.673028 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.51; MB_Bottom_Detect_Filter_Max_Range = 290.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2096.191507 meters looking forward 200.000000 meters along route # Maximum depth: 2110.584759 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2031.191507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977920; longitude = -129.074627; captureRadius = 10; duration = 104; initialDepth = 2027.783652; finalDepth = 2031.191507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.533406 # Actual altitude: 72.533406 # Commanded vehicle depth:2031.191507 # Seafloor depth:-2102.474573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.51; MB_Bottom_Detect_Filter_Max_Range = 290.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2092.783652 meters looking forward 200.000000 meters along route # Maximum depth: 2101.300176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2027.783652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.977079; longitude = -129.075124; captureRadius = 10; duration = 104; initialDepth = 2027.557881; finalDepth = 2027.783652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.283066 # Actual altitude: 71.283066 # Commanded vehicle depth:2027.783652 # Seafloor depth:-2095.657648 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.26; MB_Bottom_Detect_Filter_Max_Range = 285.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2092.557881 meters looking forward 200.000000 meters along route # Maximum depth: 2094.940072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2027.557881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.976180; longitude = -129.075657; captureRadius = 10; duration = 104; initialDepth = 2027.192425; finalDepth = 2027.557881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8739959999998 # Actual altitude: 67.8739959999998 # Commanded vehicle depth:2027.557881 # Seafloor depth:-2092.669511 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.50; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2092.192425 meters looking forward 200.000000 meters along route # Maximum depth: 2093.347137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2027.192425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.975280; longitude = -129.076189; captureRadius = 10; duration = 104; initialDepth = 2025.168113; finalDepth = 2027.192425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.8149699999999 # Actual altitude: 65.8149699999999 # Commanded vehicle depth:2027.192425 # Seafloor depth:-2093.007395 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.16; MB_Bottom_Detect_Filter_Max_Range = 263.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2090.168113 meters looking forward 200.000000 meters along route # Maximum depth: 2093.347137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2025.168113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.974381; longitude = -129.076721; captureRadius = 10; duration = 104; initialDepth = 2024.734715; finalDepth = 2025.168113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4452859999997 # Actual altitude: 66.4452859999997 # Commanded vehicle depth:2025.168113 # Seafloor depth:-2091.613399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.78; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.29; MB_Bottom_Detect_Filter_Max_Range = 265.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2089.734715 meters looking forward 200.000000 meters along route # Maximum depth: 2091.103531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.734715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.973482; longitude = -129.077253; captureRadius = 10; duration = 104; initialDepth = 2024.734715; finalDepth = 2024.734715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4452859999997 # Actual altitude: 66.4452859999997 # Commanded vehicle depth:2024.734715 # Seafloor depth:-2089.960836 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.78; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.29; MB_Bottom_Detect_Filter_Max_Range = 265.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2089.734715 meters looking forward 200.000000 meters along route # Maximum depth: 2091.754123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2024.734715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.972582; longitude = -129.077785; captureRadius = 10; duration = 104; initialDepth = 2026.267203; finalDepth = 2024.734715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3695979999998 # Actual altitude: 66.3695979999998 # Commanded vehicle depth:2024.734715 # Seafloor depth:-2091.104313 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.48; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 265.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2091.267203 meters looking forward 200.000000 meters along route # Maximum depth: 2094.106838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.267203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.971683; longitude = -129.078317; captureRadius = 10; duration = 104; initialDepth = 2026.934960; finalDepth = 2026.267203; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3695979999998 # Actual altitude: 66.3695979999998 # Commanded vehicle depth:2026.267203 # Seafloor depth:-2091.482680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.48; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.27; MB_Bottom_Detect_Filter_Max_Range = 265.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2091.934960 meters looking forward 200.000000 meters along route # Maximum depth: 2094.106838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.934960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970783; longitude = -129.078849; captureRadius = 10; duration = 104; initialDepth = 2026.669440; finalDepth = 2026.934960; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0610750000001 # Actual altitude: 67.0610750000001 # Commanded vehicle depth:2026.93496 # Seafloor depth:-2093.996035 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2091.669440 meters looking forward 200.000000 meters along route # Maximum depth: 2093.879555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.669440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969884; longitude = -129.079381; captureRadius = 10; duration = 104; initialDepth = 2026.700156; finalDepth = 2026.669440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0610750000001 # Actual altitude: 67.0610750000001 # Commanded vehicle depth:2026.66944 # Seafloor depth:-2091.780248 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2091.700156 meters looking forward 200.000000 meters along route # Maximum depth: 2099.382343 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2026.700156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968985; longitude = -129.079913; captureRadius = 10; duration = 104; initialDepth = 2030.026707; finalDepth = 2026.700156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5702780000001 # Actual altitude: 67.5702780000001 # Commanded vehicle depth:2026.700156 # Seafloor depth:-2094.270434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.51; MB_Bottom_Detect_Filter_Max_Range = 270.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2095.026707 meters looking forward 200.000000 meters along route # Maximum depth: 2103.408218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.026707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968085; longitude = -129.080445; captureRadius = 10; duration = 104; initialDepth = 2035.942732; finalDepth = 2030.026707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9815509999999 # Actual altitude: 69.9815509999999 # Commanded vehicle depth:2030.026707 # Seafloor depth:-2100.008258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.00; MB_Bottom_Detect_Filter_Max_Range = 279.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2100.942732 meters looking forward 200.000000 meters along route # Maximum depth: 2106.271420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2035.942732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.080978; captureRadius = 10; duration = 104; initialDepth = 2039.315087; finalDepth = 2035.942732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9815509999999 # Actual altitude: 69.9815509999999 # Commanded vehicle depth:2035.942732 # Seafloor depth:-2103.676297 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.00; MB_Bottom_Detect_Filter_Max_Range = 279.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2104.315087 meters looking forward 200.000000 meters along route # Maximum depth: 2108.190943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2039.315087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.081510; captureRadius = 10; duration = 104; initialDepth = 2041.548508; finalDepth = 2039.315087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.733565 # Actual altitude: 67.733565 # Commanded vehicle depth:2039.315087 # Seafloor depth:-2106.472949 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 270.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2106.548508 meters looking forward 200.000000 meters along route # Maximum depth: 2112.517962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.548508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.082042; captureRadius = 10; duration = 104; initialDepth = 2044.533745; finalDepth = 2041.548508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1608759999999 # Actual altitude: 67.1608759999999 # Commanded vehicle depth:2041.548508 # Seafloor depth:-2108.709384 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.43; MB_Bottom_Detect_Filter_Max_Range = 268.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2109.533745 meters looking forward 200.000000 meters along route # Maximum depth: 2114.674009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.533745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.082574; captureRadius = 10; duration = 104; initialDepth = 2048.082988; finalDepth = 2044.533745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2363819999996 # Actual altitude: 68.2363819999996 # Commanded vehicle depth:2044.533745 # Seafloor depth:-2112.770127 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.65; MB_Bottom_Detect_Filter_Max_Range = 272.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2113.082988 meters looking forward 200.000000 meters along route # Maximum depth: 2116.219468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.082988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963588; longitude = -129.083106; captureRadius = 10; duration = 104; initialDepth = 2049.722821; finalDepth = 2048.082988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2363819999996 # Actual altitude: 68.2363819999996 # Commanded vehicle depth:2048.082988 # Seafloor depth:-2114.722131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.65; MB_Bottom_Detect_Filter_Max_Range = 272.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2114.722821 meters looking forward 200.000000 meters along route # Maximum depth: 2119.723791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.722821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962689; longitude = -129.083638; captureRadius = 10; duration = 104; initialDepth = 2052.790627; finalDepth = 2049.722821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0629940000003 # Actual altitude: 67.0629940000003 # Commanded vehicle depth:2049.722821 # Seafloor depth:-2116.785815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2117.790627 meters looking forward 200.000000 meters along route # Maximum depth: 2120.083920 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2052.790627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961789; longitude = -129.084170; captureRadius = 10; duration = 104; initialDepth = 2054.800112; finalDepth = 2052.790627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0629940000003 # Actual altitude: 67.0629940000003 # Commanded vehicle depth:2052.790627 # Seafloor depth:-2119.827108 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2119.800112 meters looking forward 200.000000 meters along route # Maximum depth: 2122.531532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.800112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960890; longitude = -129.084702; captureRadius = 10; duration = 104; initialDepth = 2055.439531; finalDepth = 2054.800112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0364810000001 # Actual altitude: 67.0364810000001 # Commanded vehicle depth:2054.800112 # Seafloor depth:-2120.177535 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2120.439531 meters looking forward 200.000000 meters along route # Maximum depth: 2124.162787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.439531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959991; longitude = -129.085234; captureRadius = 10; duration = 104; initialDepth = 2058.183637; finalDepth = 2055.439531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3067590000001 # Actual altitude: 67.3067590000001 # Commanded vehicle depth:2055.439531 # Seafloor depth:-2122.746290 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.23; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 269.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2123.183637 meters looking forward 200.000000 meters along route # Maximum depth: 2125.222565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2058.183637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959091; longitude = -129.085766; captureRadius = 10; duration = 104; initialDepth = 2053.492307; finalDepth = 2058.183637; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3067590000001 # Actual altitude: 67.3067590000001 # Commanded vehicle depth:2058.183637 # Seafloor depth:-2124.365433 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.23; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 269.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2118.492307 meters looking forward 200.000000 meters along route # Maximum depth: 2125.222565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.492307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958192; longitude = -129.086298; captureRadius = 10; duration = 104; initialDepth = 2053.492307; finalDepth = 2053.492307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.538556 # Actual altitude: 69.538556 # Commanded vehicle depth:2053.492307 # Seafloor depth:-2123.030863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.91; MB_Bottom_Detect_Filter_Max_Range = 278.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2118.492307 meters looking forward 200.000000 meters along route # Maximum depth: 2126.718803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2053.492307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957292; longitude = -129.086831; captureRadius = 10; duration = 104; initialDepth = 2055.424873; finalDepth = 2053.492307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.538556 # Actual altitude: 69.538556 # Commanded vehicle depth:2053.492307 # Seafloor depth:-2119.431811 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.91; MB_Bottom_Detect_Filter_Max_Range = 278.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2120.424873 meters looking forward 200.000000 meters along route # Maximum depth: 2137.797201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2055.424873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956393; longitude = -129.087363; captureRadius = 10; duration = 104; initialDepth = 2062.839641; finalDepth = 2055.424873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.6324050000003 # Actual altitude: 71.6324050000003 # Commanded vehicle depth:2055.424873 # Seafloor depth:-2127.057278 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.33; MB_Bottom_Detect_Filter_Max_Range = 286.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2127.839641 meters looking forward 200.000000 meters along route # Maximum depth: 2143.930205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.839641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955524; longitude = -129.087877; captureRadius = 10; duration = 104; initialDepth = 2071.749055; finalDepth = 2062.839641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9093189999999 # Actual altitude: 75.9093189999999 # Commanded vehicle depth:2062.839641 # Seafloor depth:-2138.748960 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 303.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 303.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2136.749055 meters looking forward 200.000000 meters along route # Maximum depth: 2143.930205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2071.749055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954684; longitude = -129.088374; captureRadius = 10; duration = 104; initialDepth = 2068.136820; finalDepth = 2071.749055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.9093189999999 # Actual altitude: 75.9093189999999 # Commanded vehicle depth:2071.749055 # Seafloor depth:-2143.478169 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 303.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 303.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2133.136820 meters looking forward 200.000000 meters along route # Maximum depth: 2142.696107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.136820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953785; longitude = -129.088906; captureRadius = 10; duration = 104; initialDepth = 2068.136820; finalDepth = 2068.136820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7291139999998 # Actual altitude: 71.7291139999998 # Commanded vehicle depth:2068.13682 # Seafloor depth:-2135.992000 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.92; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.35; MB_Bottom_Detect_Filter_Max_Range = 286.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2133.136820 meters looking forward 200.000000 meters along route # Maximum depth: 2137.682942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2068.136820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952885; longitude = -129.089438; captureRadius = 10; duration = 104; initialDepth = 2069.593622; finalDepth = 2068.136820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.85518 # Actual altitude: 67.85518 # Commanded vehicle depth:2068.13682 # Seafloor depth:-2133.910113 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.42; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2134.593622 meters looking forward 200.000000 meters along route # Maximum depth: 2146.017092 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.593622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951986; longitude = -129.089970; captureRadius = 10; duration = 104; initialDepth = 2075.257125; finalDepth = 2069.593622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8475680000001 # Actual altitude: 68.8475680000001 # Commanded vehicle depth:2069.593622 # Seafloor depth:-2138.441190 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.77; MB_Bottom_Detect_Filter_Max_Range = 275.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2140.257125 meters looking forward 200.000000 meters along route # Maximum depth: 2148.429407 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.257125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951086; longitude = -129.090502; captureRadius = 10; duration = 104; initialDepth = 2081.966569; finalDepth = 2075.257125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1170539999998 # Actual altitude: 71.1170539999998 # Commanded vehicle depth:2075.257125 # Seafloor depth:-2146.374179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.47; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.22; MB_Bottom_Detect_Filter_Max_Range = 284.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2146.966569 meters looking forward 200.000000 meters along route # Maximum depth: 2151.992396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.966569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950187; longitude = -129.091034; captureRadius = 10; duration = 104; initialDepth = 2083.815250; finalDepth = 2081.966569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1170539999998 # Actual altitude: 71.1170539999998 # Commanded vehicle depth:2081.966569 # Seafloor depth:-2148.310629 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.47; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.22; MB_Bottom_Detect_Filter_Max_Range = 284.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2148.815250 meters looking forward 200.000000 meters along route # Maximum depth: 2162.509841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2083.815250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949288; longitude = -129.091566; captureRadius = 10; duration = 104; initialDepth = 2089.380806; finalDepth = 2083.815250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7701299999999 # Actual altitude: 68.7701299999999 # Commanded vehicle depth:2083.81525 # Seafloor depth:-2152.585380 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.08; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 275.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2154.380806 meters looking forward 200.000000 meters along route # Maximum depth: 2163.917916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.380806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948388; longitude = -129.092098; captureRadius = 10; duration = 104; initialDepth = 2090.152648; finalDepth = 2089.380806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8569749999997 # Actual altitude: 73.8569749999997 # Commanded vehicle depth:2089.380806 # Seafloor depth:-2163.237781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.77; MB_Bottom_Detect_Filter_Max_Range = 295.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2155.152648 meters looking forward 200.000000 meters along route # Maximum depth: 2163.917916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.152648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947489; longitude = -129.092630; captureRadius = 10; duration = 104; initialDepth = 2088.861858; finalDepth = 2090.152648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8569749999997 # Actual altitude: 73.8569749999997 # Commanded vehicle depth:2090.152648 # Seafloor depth:-2162.913593 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.77; MB_Bottom_Detect_Filter_Max_Range = 295.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2153.861858 meters looking forward 200.000000 meters along route # Maximum depth: 2161.582795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.861858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946589; longitude = -129.093163; captureRadius = 10; duration = 104; initialDepth = 2088.861858; finalDepth = 2088.861858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.760945 # Actual altitude: 72.760945 # Commanded vehicle depth:2088.861858 # Seafloor depth:-2154.588680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 291.04; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.55; MB_Bottom_Detect_Filter_Max_Range = 291.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2153.861858 meters looking forward 200.000000 meters along route # Maximum depth: 2166.451665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.861858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945690; longitude = -129.093695; captureRadius = 10; duration = 104; initialDepth = 2094.312820; finalDepth = 2088.861858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2914959999998 # Actual altitude: 69.2914959999998 # Commanded vehicle depth:2088.861858 # Seafloor depth:-2158.153354 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.86; MB_Bottom_Detect_Filter_Max_Range = 277.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2159.312820 meters looking forward 200.000000 meters along route # Maximum depth: 2174.021428 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.312820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944791; longitude = -129.094227; captureRadius = 10; duration = 104; initialDepth = 2104.398987; finalDepth = 2094.312820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.135683 # Actual altitude: 73.135683 # Commanded vehicle depth:2094.31282 # Seafloor depth:-2167.448503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.63; MB_Bottom_Detect_Filter_Max_Range = 292.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2169.398987 meters looking forward 200.000000 meters along route # Maximum depth: 2179.565790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.398987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943891; longitude = -129.094759; captureRadius = 10; duration = 104; initialDepth = 2111.024309; finalDepth = 2104.398987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.135683 # Actual altitude: 73.135683 # Commanded vehicle depth:2104.398987 # Seafloor depth:-2174.850704 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.63; MB_Bottom_Detect_Filter_Max_Range = 292.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2176.024309 meters looking forward 200.000000 meters along route # Maximum depth: 2180.867504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.024309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942992; longitude = -129.095291; captureRadius = 10; duration = 104; initialDepth = 2114.440885; finalDepth = 2111.024309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4517169999999 # Actual altitude: 70.4517169999999 # Commanded vehicle depth:2111.024309 # Seafloor depth:-2179.996712 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.81; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2179.440885 meters looking forward 200.000000 meters along route # Maximum depth: 2184.212408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.440885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942092; longitude = -129.095823; captureRadius = 10; duration = 104; initialDepth = 2116.399326; finalDepth = 2114.440885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9724030000002 # Actual altitude: 68.9724030000002 # Commanded vehicle depth:2114.440885 # Seafloor depth:-2181.503063 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.89; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2181.399326 meters looking forward 200.000000 meters along route # Maximum depth: 2184.212408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.399326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941193; longitude = -129.096355; captureRadius = 10; duration = 104; initialDepth = 2114.272094; finalDepth = 2116.399326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.791577 # Actual altitude: 67.791577 # Commanded vehicle depth:2116.399326 # Seafloor depth:-2184.190903 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2179.272094 meters looking forward 200.000000 meters along route # Maximum depth: 2184.005480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.272094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940294; longitude = -129.096887; captureRadius = 10; duration = 104; initialDepth = 2114.272094; finalDepth = 2114.272094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.791577 # Actual altitude: 67.791577 # Commanded vehicle depth:2114.272094 # Seafloor depth:-2180.946163 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.56; MB_Bottom_Detect_Filter_Max_Range = 271.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2179.272094 meters looking forward 200.000000 meters along route # Maximum depth: 2181.068536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.272094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939394; longitude = -129.097419; captureRadius = 10; duration = 104; initialDepth = 2114.841296; finalDepth = 2114.272094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6740690000001 # Actual altitude: 66.6740690000001 # Commanded vehicle depth:2114.272094 # Seafloor depth:-2179.641459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 266.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2179.841296 meters looking forward 200.000000 meters along route # Maximum depth: 2184.570885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2114.841296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938495; longitude = -129.097951; captureRadius = 10; duration = 104; initialDepth = 2116.522019; finalDepth = 2114.841296; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1775990000001 # Actual altitude: 66.1775990000001 # Commanded vehicle depth:2114.841296 # Seafloor depth:-2181.018895 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.24; MB_Bottom_Detect_Filter_Max_Range = 264.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2181.522019 meters looking forward 200.000000 meters along route # Maximum depth: 2190.354680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.522019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937595; longitude = -129.098484; captureRadius = 10; duration = 104; initialDepth = 2120.413865; finalDepth = 2116.522019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.310481 # Actual altitude: 68.310481 # Commanded vehicle depth:2116.522019 # Seafloor depth:-2184.832500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2185.413865 meters looking forward 200.000000 meters along route # Maximum depth: 2196.299105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.413865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936696; longitude = -129.099016; captureRadius = 10; duration = 104; initialDepth = 2126.880252; finalDepth = 2120.413865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.359015 # Actual altitude: 70.359015 # Commanded vehicle depth:2120.413865 # Seafloor depth:-2190.772880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.07; MB_Bottom_Detect_Filter_Max_Range = 281.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2191.880252 meters looking forward 200.000000 meters along route # Maximum depth: 2212.692912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.880252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935797; longitude = -129.099548; captureRadius = 10; duration = 104; initialDepth = 2134.159065; finalDepth = 2126.880252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.359015 # Actual altitude: 70.359015 # Commanded vehicle depth:2126.880252 # Seafloor depth:-2196.871192 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.07; MB_Bottom_Detect_Filter_Max_Range = 281.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2199.159065 meters looking forward 200.000000 meters along route # Maximum depth: 2230.250555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2134.159065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934897; longitude = -129.100080; captureRadius = 10; duration = 104; initialDepth = 2153.961562; finalDepth = 2134.159065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6775710000002 # Actual altitude: 79.6775710000002 # Commanded vehicle depth:2134.159065 # Seafloor depth:-2213.836636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 318.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 318.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2218.961562 meters looking forward 200.000000 meters along route # Maximum depth: 2236.419758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2153.961562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933998; longitude = -129.100612; captureRadius = 10; duration = 104; initialDepth = 2167.266425; finalDepth = 2153.961562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6775710000002 # Actual altitude: 79.6775710000002 # Commanded vehicle depth:2153.961562 # Seafloor depth:-2230.801323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 318.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.94; MB_Bottom_Detect_Filter_Max_Range = 318.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2232.266425 meters looking forward 200.000000 meters along route # Maximum depth: 2238.637001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2167.266425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933128; longitude = -129.101127; captureRadius = 10; duration = 104; initialDepth = 2172.085308; finalDepth = 2167.266425; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8397610000002 # Actual altitude: 76.8397610000002 # Commanded vehicle depth:2167.266425 # Seafloor depth:-2236.647402 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 307.36; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 307.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2237.085308 meters looking forward 200.000000 meters along route # Maximum depth: 2244.431301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.085308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932289; longitude = -129.101623; captureRadius = 10; duration = 104; initialDepth = 2175.901039; finalDepth = 2172.085308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3809770000003 # Actual altitude: 69.3809770000003 # Commanded vehicle depth:2172.085308 # Seafloor depth:-2239.210176 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.88; MB_Bottom_Detect_Filter_Max_Range = 277.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2240.901039 meters looking forward 200.000000 meters along route # Maximum depth: 2244.677762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2175.901039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931389; longitude = -129.102155; captureRadius = 10; duration = 104; initialDepth = 2176.916054; finalDepth = 2175.901039; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1011200000003 # Actual altitude: 68.1011200000003 # Commanded vehicle depth:2175.901039 # Seafloor depth:-2244.002159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.62; MB_Bottom_Detect_Filter_Max_Range = 272.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2241.916054 meters looking forward 200.000000 meters along route # Maximum depth: 2244.677762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2176.916054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930490; longitude = -129.102687; captureRadius = 10; duration = 104; initialDepth = 2176.916054; finalDepth = 2176.916054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1011200000003 # Actual altitude: 68.1011200000003 # Commanded vehicle depth:2176.916054 # Seafloor depth:-2243.601038 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.62; MB_Bottom_Detect_Filter_Max_Range = 272.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2241.916054 meters looking forward 200.000000 meters along route # Maximum depth: 2247.304327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2176.916054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929591; longitude = -129.103219; captureRadius = 10; duration = 104; initialDepth = 2178.679017; finalDepth = 2176.916054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9632060000004 # Actual altitude: 66.9632060000004 # Commanded vehicle depth:2176.916054 # Seafloor depth:-2243.879260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2243.679017 meters looking forward 200.000000 meters along route # Maximum depth: 2251.135940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2178.679017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928691; longitude = -129.103751; captureRadius = 10; duration = 104; initialDepth = 2184.848977; finalDepth = 2178.679017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3344350000002 # Actual altitude: 69.3344350000002 # Commanded vehicle depth:2178.679017 # Seafloor depth:-2248.013452 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.34; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.87; MB_Bottom_Detect_Filter_Max_Range = 277.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 104.851211 meters # Minimum depth: 2249.848977 meters looking forward 200.000000 meters along route # Maximum depth: 2258.807296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2184.848977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927792; longitude = -129.104283; captureRadius = 10; duration = 104; initialDepth = 2185.397873; finalDepth = 2184.848977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3344350000002 # Actual altitude: 69.3344350000002 # Commanded vehicle depth:2184.848977 # Seafloor depth:-2250.397873 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.34; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.87; MB_Bottom_Detect_Filter_Max_Range = 277.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2250.397873 meters looking forward 200.000000 meters along route # Maximum depth: 2262.631761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2185.397873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.926868; longitude = -129.104830; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2182.278714; finalDepth = 2185.397873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4624790000003 # Actual altitude: 73.4624790000003 # Commanded vehicle depth:2185.397873 # Seafloor depth:-2258.860352 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 293.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.69; MB_Bottom_Detect_Filter_Max_Range = 293.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.851211 meters # Minimum depth: 2247.278714 meters looking forward 200.000000 meters along route # Maximum depth: 2262.631761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2182.278714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927094; longitude = -129.105677; captureRadius = 10; duration = 104; initialDepth = 2181.367065; finalDepth = 2182.278714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 80.0870439999999 # Actual altitude: 80.0870439999999 # Commanded vehicle depth:2182.278714 # Seafloor depth:-2262.365758 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 320.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.02; MB_Bottom_Detect_Filter_Max_Range = 320.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 104.851211 meters # Minimum depth: 2246.367065 meters looking forward 200.000000 meters along route # Maximum depth: 2262.631761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2181.367065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927432; longitude = -129.106945; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2181.327666; finalDepth = 2181.367065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.0870439999999 # Actual altitude: 80.0870439999999 # Commanded vehicle depth:2181.367065 # Seafloor depth:-2246.367065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 320.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.02; MB_Bottom_Detect_Filter_Max_Range = 320.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2246.327666 meters looking forward 200.000000 meters along route # Maximum depth: 2261.691917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2181.327666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927432; longitude = -129.106945; captureRadius = 10; duration = 104; initialDepth = 2182.603624; finalDepth = 2181.327666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 65 # Commanded vehicle depth:2181.327666 # Seafloor depth:-2246.327666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 260.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.00; MB_Bottom_Detect_Filter_Max_Range = 260.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2247.603624 meters looking forward 200.000000 meters along route # Maximum depth: 2254.215985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2182.603624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928331; longitude = -129.106413; captureRadius = 10; duration = 104; initialDepth = 2172.932355; finalDepth = 2182.603624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.315893 # Actual altitude: 68.315893 # Commanded vehicle depth:2182.603624 # Seafloor depth:-2250.919517 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2237.932355 meters looking forward 200.000000 meters along route # Maximum depth: 2254.551594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.932355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929231; longitude = -129.105882; captureRadius = 10; duration = 104; initialDepth = 2172.932355; finalDepth = 2172.932355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6192390000001 # Actual altitude: 81.6192390000001 # Commanded vehicle depth:2172.932355 # Seafloor depth:-2254.551594 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 326.48; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 326.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2237.932355 meters looking forward 200.000000 meters along route # Maximum depth: 2253.203223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.932355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930130; longitude = -129.105350; captureRadius = 10; duration = 104; initialDepth = 2178.014461; finalDepth = 2172.932355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.6192390000001 # Actual altitude: 81.6192390000001 # Commanded vehicle depth:2172.932355 # Seafloor depth:-2246.859781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 326.48; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 326.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2243.014461 meters looking forward 200.000000 meters along route # Maximum depth: 2250.587693 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2178.014461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931030; longitude = -129.104819; captureRadius = 10; duration = 104; initialDepth = 2171.713492; finalDepth = 2178.014461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9274260000002 # Actual altitude: 73.9274260000002 # Commanded vehicle depth:2178.014461 # Seafloor depth:-2247.214984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.71; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 295.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2236.713492 meters looking forward 200.000000 meters along route # Maximum depth: 2246.315037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2171.713492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931929; longitude = -129.104287; captureRadius = 10; duration = 104; initialDepth = 2170.964961; finalDepth = 2171.713492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1638350000003 # Actual altitude: 70.1638350000003 # Commanded vehicle depth:2171.713492 # Seafloor depth:-2241.877327 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.03; MB_Bottom_Detect_Filter_Max_Range = 280.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2235.964961 meters looking forward 200.000000 meters along route # Maximum depth: 2240.330993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2170.964961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932829; longitude = -129.103755; captureRadius = 10; duration = 104; initialDepth = 2170.964961; finalDepth = 2170.964961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1638350000003 # Actual altitude: 70.1638350000003 # Commanded vehicle depth:2170.964961 # Seafloor depth:-2236.342143 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.03; MB_Bottom_Detect_Filter_Max_Range = 280.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2235.964961 meters looking forward 200.000000 meters along route # Maximum depth: 2241.398790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2170.964961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933728; longitude = -129.103224; captureRadius = 10; duration = 104; initialDepth = 2172.643641; finalDepth = 2170.964961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7366749999997 # Actual altitude: 68.7366749999997 # Commanded vehicle depth:2170.964961 # Seafloor depth:-2239.701636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 274.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2237.643641 meters looking forward 200.000000 meters along route # Maximum depth: 2241.398790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2172.643641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934627; longitude = -129.102692; captureRadius = 10; duration = 104; initialDepth = 2168.640610; finalDepth = 2172.643641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7366749999997 # Actual altitude: 68.7366749999997 # Commanded vehicle depth:2172.643641 # Seafloor depth:-2240.153011 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.75; MB_Bottom_Detect_Filter_Max_Range = 274.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2233.640610 meters looking forward 200.000000 meters along route # Maximum depth: 2239.969309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2168.640610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935527; longitude = -129.102161; captureRadius = 10; duration = 104; initialDepth = 2161.443303; finalDepth = 2168.640610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3286990000001 # Actual altitude: 71.3286990000001 # Commanded vehicle depth:2168.64061 # Seafloor depth:-2239.969309 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.27; MB_Bottom_Detect_Filter_Max_Range = 285.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2226.443303 meters looking forward 200.000000 meters along route # Maximum depth: 2239.580932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2161.443303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936426; longitude = -129.101629; captureRadius = 10; duration = 104; initialDepth = 2155.446832; finalDepth = 2161.443303; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.546938 # Actual altitude: 71.546938 # Commanded vehicle depth:2161.443303 # Seafloor depth:-2232.990241 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.19; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.31; MB_Bottom_Detect_Filter_Max_Range = 286.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2220.446832 meters looking forward 200.000000 meters along route # Maximum depth: 2230.892130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2155.446832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937326; longitude = -129.101097; captureRadius = 10; duration = 104; initialDepth = 2154.454796; finalDepth = 2155.446832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.546938 # Actual altitude: 71.546938 # Commanded vehicle depth:2155.446832 # Seafloor depth:-2226.057878 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.19; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.31; MB_Bottom_Detect_Filter_Max_Range = 286.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2219.454796 meters looking forward 200.000000 meters along route # Maximum depth: 2224.512263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2154.454796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938225; longitude = -129.100566; captureRadius = 10; duration = 104; initialDepth = 2153.954673; finalDepth = 2154.454796; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.611046 # Actual altitude: 70.611046 # Commanded vehicle depth:2154.454796 # Seafloor depth:-2221.510175 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2218.954673 meters looking forward 200.000000 meters along route # Maximum depth: 2222.826029 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2153.954673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939124; longitude = -129.100034; captureRadius = 10; duration = 104; initialDepth = 2152.466930; finalDepth = 2153.954673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0553789999999 # Actual altitude: 67.0553789999999 # Commanded vehicle depth:2153.954673 # Seafloor depth:-2219.286050 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2217.466930 meters looking forward 200.000000 meters along route # Maximum depth: 2220.236065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2152.466930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939994; longitude = -129.099520; captureRadius = 10; duration = 104; initialDepth = 2149.919464; finalDepth = 2152.466930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9834599999999 # Actual altitude: 66.9834599999999 # Commanded vehicle depth:2152.46693 # Seafloor depth:-2219.450390 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.40; MB_Bottom_Detect_Filter_Max_Range = 267.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2214.919464 meters looking forward 200.000000 meters along route # Maximum depth: 2218.885747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2149.919464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940833; longitude = -129.099024; captureRadius = 10; duration = 104; initialDepth = 2144.034466; finalDepth = 2149.919464; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4657769999999 # Actual altitude: 67.4657769999999 # Commanded vehicle depth:2149.919464 # Seafloor depth:-2217.385241 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.86; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2209.034466 meters looking forward 200.000000 meters along route # Maximum depth: 2216.976182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2144.034466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941733; longitude = -129.098493; captureRadius = 10; duration = 104; initialDepth = 2134.424894; finalDepth = 2144.034466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.181411 # Actual altitude: 70.181411 # Commanded vehicle depth:2144.034466 # Seafloor depth:-2214.215877 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.73; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.04; MB_Bottom_Detect_Filter_Max_Range = 280.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2199.424894 meters looking forward 200.000000 meters along route # Maximum depth: 2212.584228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2134.424894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942632; longitude = -129.097961; captureRadius = 10; duration = 104; initialDepth = 2128.696910; finalDepth = 2134.424894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9130789999999 # Actual altitude: 73.9130789999999 # Commanded vehicle depth:2134.424894 # Seafloor depth:-2208.337973 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.65; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.78; MB_Bottom_Detect_Filter_Max_Range = 295.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2193.696910 meters looking forward 200.000000 meters along route # Maximum depth: 2206.667439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.696910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943531; longitude = -129.097429; captureRadius = 10; duration = 104; initialDepth = 2128.696910; finalDepth = 2128.696910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9130789999999 # Actual altitude: 73.9130789999999 # Commanded vehicle depth:2128.69691 # Seafloor depth:-2198.411704 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.65; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.78; MB_Bottom_Detect_Filter_Max_Range = 295.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2193.696910 meters looking forward 200.000000 meters along route # Maximum depth: 2200.726024 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2128.696910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944431; longitude = -129.096898; captureRadius = 10; duration = 104; initialDepth = 2131.897228; finalDepth = 2128.696910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.714794 # Actual altitude: 69.714794 # Commanded vehicle depth:2128.69691 # Seafloor depth:-2195.536595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.86; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.94; MB_Bottom_Detect_Filter_Max_Range = 278.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2196.897228 meters looking forward 200.000000 meters along route # Maximum depth: 2211.369203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.897228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945330; longitude = -129.096366; captureRadius = 10; duration = 104; initialDepth = 2138.551114; finalDepth = 2131.897228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7477000000003 # Actual altitude: 69.7477000000003 # Commanded vehicle depth:2131.897228 # Seafloor depth:-2201.644928 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2203.551114 meters looking forward 200.000000 meters along route # Maximum depth: 2218.276579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2138.551114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946230; longitude = -129.095835; captureRadius = 10; duration = 104; initialDepth = 2149.496733; finalDepth = 2138.551114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9676630000004 # Actual altitude: 73.9676630000004 # Commanded vehicle depth:2138.551114 # Seafloor depth:-2212.518777 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 295.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2214.496733 meters looking forward 200.000000 meters along route # Maximum depth: 2223.643694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2149.496733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947129; longitude = -129.095303; captureRadius = 10; duration = 104; initialDepth = 2154.327555; finalDepth = 2149.496733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9676630000004 # Actual altitude: 73.9676630000004 # Commanded vehicle depth:2149.496733 # Seafloor depth:-2218.592088 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.79; MB_Bottom_Detect_Filter_Max_Range = 295.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2219.327555 meters looking forward 200.000000 meters along route # Maximum depth: 2226.261292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2154.327555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948028; longitude = -129.094772; captureRadius = 10; duration = 104; initialDepth = 2159.950305; finalDepth = 2154.327555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7937140000004 # Actual altitude: 69.7937140000004 # Commanded vehicle depth:2154.327555 # Seafloor depth:-2224.121269 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2224.950305 meters looking forward 200.000000 meters along route # Maximum depth: 2226.408228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2159.950305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948928; longitude = -129.094240; captureRadius = 10; duration = 104; initialDepth = 2157.784116; finalDepth = 2159.950305; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7937140000004 # Actual altitude: 69.7937140000004 # Commanded vehicle depth:2159.950305 # Seafloor depth:-2226.203093 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2222.784116 meters looking forward 200.000000 meters along route # Maximum depth: 2226.477415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2157.784116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949827; longitude = -129.093708; captureRadius = 10; duration = 104; initialDepth = 2143.486851; finalDepth = 2157.784116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.632282 # Actual altitude: 68.632282 # Commanded vehicle depth:2157.784116 # Seafloor depth:-2226.416398 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.53; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2208.486851 meters looking forward 200.000000 meters along route # Maximum depth: 2226.477415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2143.486851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950727; longitude = -129.093177; captureRadius = 10; duration = 104; initialDepth = 2130.183903; finalDepth = 2143.486851; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.217044 # Actual altitude: 78.217044 # Commanded vehicle depth:2143.486851 # Seafloor depth:-2221.703895 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 312.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2195.183903 meters looking forward 200.000000 meters along route # Maximum depth: 2220.051660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.183903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951626; longitude = -129.092645; captureRadius = 10; duration = 104; initialDepth = 2125.012795; finalDepth = 2130.183903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.217044 # Actual altitude: 78.217044 # Commanded vehicle depth:2130.183903 # Seafloor depth:-2206.843832 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 312.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.64; MB_Bottom_Detect_Filter_Max_Range = 312.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2190.012795 meters looking forward 200.000000 meters along route # Maximum depth: 2204.308291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.012795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952525; longitude = -129.092114; captureRadius = 10; duration = 104; initialDepth = 2124.389669; finalDepth = 2125.012795; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6599289999999 # Actual altitude: 76.6599289999999 # Commanded vehicle depth:2125.012795 # Seafloor depth:-2194.219734 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 306.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 306.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2189.389669 meters looking forward 200.000000 meters along route # Maximum depth: 2192.522633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.389669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953425; longitude = -129.091582; captureRadius = 10; duration = 104; initialDepth = 2124.389669; finalDepth = 2124.389669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2069389999997 # Actual altitude: 69.2069389999997 # Commanded vehicle depth:2124.389669 # Seafloor depth:-2189.856922 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.84; MB_Bottom_Detect_Filter_Max_Range = 276.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2189.389669 meters looking forward 200.000000 meters along route # Maximum depth: 2193.644802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.389669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954324; longitude = -129.091050; captureRadius = 10; duration = 104; initialDepth = 2125.444065; finalDepth = 2124.389669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4672529999998 # Actual altitude: 65.4672529999998 # Commanded vehicle depth:2124.389669 # Seafloor depth:-2189.705111 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 261.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.09; MB_Bottom_Detect_Filter_Max_Range = 261.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2190.444065 meters looking forward 200.000000 meters along route # Maximum depth: 2194.820577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.444065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955224; longitude = -129.090519; captureRadius = 10; duration = 104; initialDepth = 2115.086769; finalDepth = 2125.444065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5443929999997 # Actual altitude: 68.5443929999997 # Commanded vehicle depth:2125.444065 # Seafloor depth:-2193.988458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.71; MB_Bottom_Detect_Filter_Max_Range = 274.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2180.086769 meters looking forward 200.000000 meters along route # Maximum depth: 2194.820577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.086769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956123; longitude = -129.089987; captureRadius = 10; duration = 104; initialDepth = 2107.793492; finalDepth = 2115.086769; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.109915 # Actual altitude: 77.109915 # Commanded vehicle depth:2115.086769 # Seafloor depth:-2192.196684 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 308.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 308.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2172.793492 meters looking forward 200.000000 meters along route # Maximum depth: 2189.407418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2107.793492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957022; longitude = -129.089456; captureRadius = 10; duration = 104; initialDepth = 2106.588413; finalDepth = 2107.793492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.109915 # Actual altitude: 77.109915 # Commanded vehicle depth:2107.793492 # Seafloor depth:-2179.635582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 308.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 308.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2171.588413 meters looking forward 200.000000 meters along route # Maximum depth: 2177.805715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.588413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957922; longitude = -129.088924; captureRadius = 10; duration = 104; initialDepth = 2106.588413; finalDepth = 2106.588413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8420900000001 # Actual altitude: 71.8420900000001 # Commanded vehicle depth:2106.588413 # Seafloor depth:-2172.598666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.37; MB_Bottom_Detect_Filter_Max_Range = 287.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2171.588413 meters looking forward 200.000000 meters along route # Maximum depth: 2174.937594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.588413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958821; longitude = -129.088392; captureRadius = 10; duration = 104; initialDepth = 2109.141926; finalDepth = 2106.588413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9743189999999 # Actual altitude: 66.9743189999999 # Commanded vehicle depth:2106.588413 # Seafloor depth:-2173.562732 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2174.141926 meters looking forward 200.000000 meters along route # Maximum depth: 2175.283144 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.141926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959694; longitude = -129.087877; captureRadius = 10; duration = 104; initialDepth = 2106.632014; finalDepth = 2109.141926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9743189999999 # Actual altitude: 66.9743189999999 # Commanded vehicle depth:2109.141926 # Seafloor depth:-2174.539501 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.90; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2171.632014 meters looking forward 200.000000 meters along route # Maximum depth: 2175.283144 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.632014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960530; longitude = -129.087382; captureRadius = 10; duration = 104; initialDepth = 2106.287243; finalDepth = 2106.632014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4710460000001 # Actual altitude: 68.4710460000001 # Commanded vehicle depth:2106.632014 # Seafloor depth:-2175.103060 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.69; MB_Bottom_Detect_Filter_Max_Range = 273.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2171.287243 meters looking forward 200.000000 meters along route # Maximum depth: 2174.778364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.287243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961430; longitude = -129.086851; captureRadius = 10; duration = 104; initialDepth = 2102.461016; finalDepth = 2106.287243; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4710460000001 # Actual altitude: 68.4710460000001 # Commanded vehicle depth:2106.287243 # Seafloor depth:-2171.344472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.88; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.69; MB_Bottom_Detect_Filter_Max_Range = 273.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2167.461016 meters looking forward 200.000000 meters along route # Maximum depth: 2171.786533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.461016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962329; longitude = -129.086319; captureRadius = 10; duration = 104; initialDepth = 2097.266705; finalDepth = 2102.461016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9627999999998 # Actual altitude: 68.9627999999998 # Commanded vehicle depth:2102.461016 # Seafloor depth:-2171.423816 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.85; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2162.266705 meters looking forward 200.000000 meters along route # Maximum depth: 2171.679670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2097.266705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963228; longitude = -129.085788; captureRadius = 10; duration = 104; initialDepth = 2091.093839; finalDepth = 2097.266705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.561334 # Actual altitude: 69.561334 # Commanded vehicle depth:2097.266705 # Seafloor depth:-2166.828039 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.91; MB_Bottom_Detect_Filter_Max_Range = 278.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2156.093839 meters looking forward 200.000000 meters along route # Maximum depth: 2165.958641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.093839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964128; longitude = -129.085256; captureRadius = 10; duration = 104; initialDepth = 2084.008466; finalDepth = 2091.093839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.6119939999999 # Actual altitude: 70.6119939999999 # Commanded vehicle depth:2091.093839 # Seafloor depth:-2161.705833 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.45; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2149.008466 meters looking forward 200.000000 meters along route # Maximum depth: 2160.907531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.008466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965027; longitude = -129.084724; captureRadius = 10; duration = 104; initialDepth = 2081.737365; finalDepth = 2084.008466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3124579999999 # Actual altitude: 71.3124579999999 # Commanded vehicle depth:2084.008466 # Seafloor depth:-2155.320924 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.26; MB_Bottom_Detect_Filter_Max_Range = 285.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2146.737365 meters looking forward 200.000000 meters along route # Maximum depth: 2153.557017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2081.737365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965927; longitude = -129.084193; captureRadius = 10; duration = 104; initialDepth = 2079.709270; finalDepth = 2081.737365; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3124579999999 # Actual altitude: 71.3124579999999 # Commanded vehicle depth:2081.737365 # Seafloor depth:-2149.313735 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.25; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.26; MB_Bottom_Detect_Filter_Max_Range = 285.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2144.709270 meters looking forward 200.000000 meters along route # Maximum depth: 2149.420706 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2079.709270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966826; longitude = -129.083661; captureRadius = 10; duration = 104; initialDepth = 2077.474259; finalDepth = 2079.709270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5763700000002 # Actual altitude: 67.5763700000002 # Commanded vehicle depth:2079.70927 # Seafloor depth:-2146.604211 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.52; MB_Bottom_Detect_Filter_Max_Range = 270.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.851211 meters # Minimum depth: 2142.474259 meters looking forward 200.000000 meters along route # Maximum depth: 2146.383344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.474259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967725; longitude = -129.083130; captureRadius = 10; duration = 104; initialDepth = 2077.474259; finalDepth = 2077.474259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5329109999998 # Actual altitude: 67.5329109999998 # Commanded vehicle depth:2077.474259 # Seafloor depth:-2145.007170 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.51; MB_Bottom_Detect_Filter_Max_Range = 270.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2142.474259 meters looking forward 200.000000 meters along route # Maximum depth: 2158.942446 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.474259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968625; longitude = -129.082598; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2077.474259; finalDepth = 2077.474259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5329109999998 # Actual altitude: 67.5329109999998 # Commanded vehicle depth:2077.474259 # Seafloor depth:-2142.704041 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.51; MB_Bottom_Detect_Filter_Max_Range = 270.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.851211 meters # Minimum depth: 2142.474259 meters looking forward 200.000000 meters along route # Maximum depth: 2176.827614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.474259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968855; longitude = -129.083460; captureRadius = 10; duration = 104; initialDepth = 2077.474259; finalDepth = 2077.474259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 84.009744 # Actual altitude: 84.009744 # Commanded vehicle depth:2077.474259 # Seafloor depth:-2161.484003 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 336.04; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 336.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 104.851211 meters # Minimum depth: 2142.474259 meters looking forward 200.000000 meters along route # Maximum depth: 2177.774475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.474259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969189; longitude = -129.084714; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2078.355062; finalDepth = 2077.474259; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.300216 # Actual altitude: 100 # Commanded vehicle depth:2077.474259 # Seafloor depth:-2177.774475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 400.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2165.557194 meters looking forward 200.000000 meters along route # Maximum depth: 2183.166412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2078.355062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969164; longitude = -129.084729; captureRadius = 10; duration = 104; initialDepth = 2110.620441; finalDepth = 2078.355062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.300216 # Actual altitude: 100 # Commanded vehicle depth:2078.355062 # Seafloor depth:-2177.668837 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 400.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2178.542242 meters looking forward 200.000000 meters along route # Maximum depth: 2186.517492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.620441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968265; longitude = -129.085260; captureRadius = 10; duration = 104; initialDepth = 2119.297613; finalDepth = 2110.620441; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.3137749999996 # Actual altitude: 99.3137749999996 # Commanded vehicle depth:2110.6204412 # Seafloor depth:-2183.692178 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 397.26; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.86; MB_Bottom_Detect_Filter_Max_Range = 397.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 397.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2184.297613 meters looking forward 200.000000 meters along route # Maximum depth: 2189.487035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.297613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967366; longitude = -129.085792; captureRadius = 10; duration = 104; initialDepth = 2122.738266; finalDepth = 2119.297613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.0717368000001 # Actual altitude: 73.0717368000001 # Commanded vehicle depth:2119.297613 # Seafloor depth:-2186.883954 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.29; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.61; MB_Bottom_Detect_Filter_Max_Range = 292.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2187.738266 meters looking forward 200.000000 meters along route # Maximum depth: 2189.487035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.738266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966466; longitude = -129.086323; captureRadius = 10; duration = 104; initialDepth = 2123.472785; finalDepth = 2122.738266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5863409999997 # Actual altitude: 67.5863409999997 # Commanded vehicle depth:2122.738266 # Seafloor depth:-2188.619435 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.52; MB_Bottom_Detect_Filter_Max_Range = 270.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2188.472785 meters looking forward 200.000000 meters along route # Maximum depth: 2193.086116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.472785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965567; longitude = -129.086855; captureRadius = 10; duration = 104; initialDepth = 2124.211494; finalDepth = 2123.472785; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.8811690000002 # Actual altitude: 65.8811690000002 # Commanded vehicle depth:2123.472785 # Seafloor depth:-2188.885960 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.18; MB_Bottom_Detect_Filter_Max_Range = 263.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2189.211494 meters looking forward 200.000000 meters along route # Maximum depth: 2197.970750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2124.211494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964667; longitude = -129.087386; captureRadius = 10; duration = 104; initialDepth = 2130.007147; finalDepth = 2124.211494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.513222 # Actual altitude: 69.513222 # Commanded vehicle depth:2124.211494 # Seafloor depth:-2193.724716 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.90; MB_Bottom_Detect_Filter_Max_Range = 278.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2195.007147 meters looking forward 200.000000 meters along route # Maximum depth: 2199.280099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2130.007147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963768; longitude = -129.087918; captureRadius = 10; duration = 104; initialDepth = 2131.599761; finalDepth = 2130.007147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.513222 # Actual altitude: 69.513222 # Commanded vehicle depth:2130.007147 # Seafloor depth:-2198.195772 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.90; MB_Bottom_Detect_Filter_Max_Range = 278.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2196.599761 meters looking forward 200.000000 meters along route # Maximum depth: 2199.280099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.599761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962869; longitude = -129.088450; captureRadius = 10; duration = 104; initialDepth = 2131.587008; finalDepth = 2131.599761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1886250000002 # Actual altitude: 68.1886250000002 # Commanded vehicle depth:2131.599761 # Seafloor depth:-2197.508801 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.75; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2196.587008 meters looking forward 200.000000 meters along route # Maximum depth: 2197.404834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.587008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961969; longitude = -129.088981; captureRadius = 10; duration = 104; initialDepth = 2129.739974; finalDepth = 2131.587008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.90904 # Actual altitude: 65.90904 # Commanded vehicle depth:2131.587008 # Seafloor depth:-2196.587008 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.18; MB_Bottom_Detect_Filter_Max_Range = 263.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2194.739974 meters looking forward 200.000000 meters along route # Maximum depth: 2197.190549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.739974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961070; longitude = -129.089513; captureRadius = 10; duration = 104; initialDepth = 2123.298380; finalDepth = 2129.739974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9184270000001 # Actual altitude: 66.9184270000001 # Commanded vehicle depth:2129.739974 # Seafloor depth:-2196.658401 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.38; MB_Bottom_Detect_Filter_Max_Range = 267.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2188.298380 meters looking forward 200.000000 meters along route # Maximum depth: 2196.518034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2123.298380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960170; longitude = -129.090044; captureRadius = 10; duration = 104; initialDepth = 2119.747572; finalDepth = 2123.298380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2166649999999 # Actual altitude: 71.2166649999999 # Commanded vehicle depth:2123.29838 # Seafloor depth:-2194.515045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.24; MB_Bottom_Detect_Filter_Max_Range = 284.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2184.747572 meters looking forward 200.000000 meters along route # Maximum depth: 2193.198240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.747572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959271; longitude = -129.090576; captureRadius = 10; duration = 104; initialDepth = 2119.747572; finalDepth = 2119.747572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2166649999999 # Actual altitude: 71.2166649999999 # Commanded vehicle depth:2119.747572 # Seafloor depth:-2188.050218 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.24; MB_Bottom_Detect_Filter_Max_Range = 284.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2184.747572 meters looking forward 200.000000 meters along route # Maximum depth: 2187.558032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.747572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958403; longitude = -129.091089; captureRadius = 10; duration = 104; initialDepth = 2120.039044; finalDepth = 2119.747572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3026459999996 # Actual altitude: 68.3026459999996 # Commanded vehicle depth:2119.747572 # Seafloor depth:-2184.802525 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2185.039044 meters looking forward 200.000000 meters along route # Maximum depth: 2192.960820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.039044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957562; longitude = -129.091586; captureRadius = 10; duration = 104; initialDepth = 2122.965782; finalDepth = 2120.039044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.1064040000001 # Actual altitude: 67.1064040000001 # Commanded vehicle depth:2120.039044 # Seafloor depth:-2187.145448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.42; MB_Bottom_Detect_Filter_Max_Range = 268.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2187.965782 meters looking forward 200.000000 meters along route # Maximum depth: 2196.887486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.965782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956663; longitude = -129.092118; captureRadius = 10; duration = 104; initialDepth = 2129.900718; finalDepth = 2122.965782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7338519999998 # Actual altitude: 70.7338519999998 # Commanded vehicle depth:2122.965782 # Seafloor depth:-2193.699634 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.15; MB_Bottom_Detect_Filter_Max_Range = 282.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2194.900718 meters looking forward 200.000000 meters along route # Maximum depth: 2199.994392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2129.900718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955763; longitude = -129.092649; captureRadius = 10; duration = 104; initialDepth = 2132.246566; finalDepth = 2129.900718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7338519999998 # Actual altitude: 70.7338519999998 # Commanded vehicle depth:2129.900718 # Seafloor depth:-2196.946116 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.15; MB_Bottom_Detect_Filter_Max_Range = 282.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2197.246566 meters looking forward 200.000000 meters along route # Maximum depth: 2206.232376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2132.246566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954864; longitude = -129.093181; captureRadius = 10; duration = 104; initialDepth = 2136.904141; finalDepth = 2132.246566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4135110000002 # Actual altitude: 68.4135110000002 # Commanded vehicle depth:2132.246566 # Seafloor depth:-2200.660077 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.65; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.68; MB_Bottom_Detect_Filter_Max_Range = 273.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2201.904141 meters looking forward 200.000000 meters along route # Maximum depth: 2208.914628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2136.904141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953965; longitude = -129.093712; captureRadius = 10; duration = 104; initialDepth = 2142.246560; finalDepth = 2136.904141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7392009999999 # Actual altitude: 69.7392009999999 # Commanded vehicle depth:2136.904141 # Seafloor depth:-2206.643342 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2207.246560 meters looking forward 200.000000 meters along route # Maximum depth: 2213.168987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2142.246560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953065; longitude = -129.094244; captureRadius = 10; duration = 104; initialDepth = 2144.698721; finalDepth = 2142.246560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7392009999999 # Actual altitude: 69.7392009999999 # Commanded vehicle depth:2142.24656 # Seafloor depth:-2209.170405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2209.698721 meters looking forward 200.000000 meters along route # Maximum depth: 2215.856134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2144.698721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952166; longitude = -129.094776; captureRadius = 10; duration = 104; initialDepth = 2149.554770; finalDepth = 2144.698721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1115969999996 # Actual altitude: 69.1115969999996 # Commanded vehicle depth:2144.698721 # Seafloor depth:-2213.810318 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.45; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.82; MB_Bottom_Detect_Filter_Max_Range = 276.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2214.554770 meters looking forward 200.000000 meters along route # Maximum depth: 2215.856134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2149.554770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951266; longitude = -129.095307; captureRadius = 10; duration = 104; initialDepth = 2147.341927; finalDepth = 2149.554770; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.1115969999996 # Actual altitude: 69.1115969999996 # Commanded vehicle depth:2149.55477 # Seafloor depth:-2215.825634 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.45; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.82; MB_Bottom_Detect_Filter_Max_Range = 276.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2212.341927 meters looking forward 200.000000 meters along route # Maximum depth: 2215.690807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.341927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950367; longitude = -129.095839; captureRadius = 10; duration = 104; initialDepth = 2147.220542; finalDepth = 2147.341927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0363499999999 # Actual altitude: 67.0363499999999 # Commanded vehicle depth:2147.341927 # Seafloor depth:-2214.378277 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2212.220542 meters looking forward 200.000000 meters along route # Maximum depth: 2213.789106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.220542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949467; longitude = -129.096370; captureRadius = 10; duration = 104; initialDepth = 2147.220542; finalDepth = 2147.220542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0363499999999 # Actual altitude: 67.0363499999999 # Commanded vehicle depth:2147.220542 # Seafloor depth:-2212.472380 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.41; MB_Bottom_Detect_Filter_Max_Range = 268.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2212.220542 meters looking forward 200.000000 meters along route # Maximum depth: 2213.674401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.220542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948568; longitude = -129.096902; captureRadius = 10; duration = 104; initialDepth = 2147.261248; finalDepth = 2147.220542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.2791480000001 # Actual altitude: 65.2791480000001 # Commanded vehicle depth:2147.220542 # Seafloor depth:-2212.499690 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 261.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.06; MB_Bottom_Detect_Filter_Max_Range = 261.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2212.261248 meters looking forward 200.000000 meters along route # Maximum depth: 2213.674401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.261248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947669; longitude = -129.097434; captureRadius = 10; duration = 104; initialDepth = 2147.261478; finalDepth = 2147.261248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.2791480000001 # Actual altitude: 65.2791480000001 # Commanded vehicle depth:2147.261248 # Seafloor depth:-2212.379930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 261.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.06; MB_Bottom_Detect_Filter_Max_Range = 261.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2212.261478 meters looking forward 200.000000 meters along route # Maximum depth: 2214.431791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.261478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946769; longitude = -129.097965; captureRadius = 10; duration = 104; initialDepth = 2143.099615; finalDepth = 2147.261478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.879054 # Actual altitude: 65.879054 # Commanded vehicle depth:2147.261478 # Seafloor depth:-2213.140532 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.52; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.18; MB_Bottom_Detect_Filter_Max_Range = 263.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2208.099615 meters looking forward 200.000000 meters along route # Maximum depth: 2214.431791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2143.099615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945870; longitude = -129.098497; captureRadius = 10; duration = 104; initialDepth = 2142.328759; finalDepth = 2143.099615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.659181 # Actual altitude: 69.659181 # Commanded vehicle depth:2143.099615 # Seafloor depth:-2212.758796 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2207.328759 meters looking forward 200.000000 meters along route # Maximum depth: 2211.959253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2142.328759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944970; longitude = -129.099028; captureRadius = 10; duration = 104; initialDepth = 2142.328759; finalDepth = 2142.328759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.659181 # Actual altitude: 69.659181 # Commanded vehicle depth:2142.328759 # Seafloor depth:-2207.721315 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.93; MB_Bottom_Detect_Filter_Max_Range = 278.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2207.328759 meters looking forward 200.000000 meters along route # Maximum depth: 2212.991792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2142.328759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944071; longitude = -129.099560; captureRadius = 10; duration = 104; initialDepth = 2132.448307; finalDepth = 2142.328759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7624230000001 # Actual altitude: 67.7624230000001 # Commanded vehicle depth:2142.328759 # Seafloor depth:-2210.091182 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2197.448307 meters looking forward 200.000000 meters along route # Maximum depth: 2212.991792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2132.448307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943172; longitude = -129.100091; captureRadius = 10; duration = 104; initialDepth = 2131.964965; finalDepth = 2132.448307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6715669999999 # Actual altitude: 74.6715669999999 # Commanded vehicle depth:2132.448307 # Seafloor depth:-2207.119874 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 298.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.93; MB_Bottom_Detect_Filter_Max_Range = 298.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2196.964965 meters looking forward 200.000000 meters along route # Maximum depth: 2203.746672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.964965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942272; longitude = -129.100623; captureRadius = 10; duration = 104; initialDepth = 2131.964965; finalDepth = 2131.964965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6715669999999 # Actual altitude: 74.6715669999999 # Commanded vehicle depth:2131.964965 # Seafloor depth:-2197.304493 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 298.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.93; MB_Bottom_Detect_Filter_Max_Range = 298.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2196.964965 meters looking forward 200.000000 meters along route # Maximum depth: 2198.953660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2131.964965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941373; longitude = -129.101155; captureRadius = 10; duration = 104; initialDepth = 2133.004830; finalDepth = 2131.964965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8891429999999 # Actual altitude: 66.8891429999999 # Commanded vehicle depth:2131.964965 # Seafloor depth:-2198.854108 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.38; MB_Bottom_Detect_Filter_Max_Range = 267.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2198.004830 meters looking forward 200.000000 meters along route # Maximum depth: 2200.693641 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.004830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940473; longitude = -129.101686; captureRadius = 10; duration = 104; initialDepth = 2133.540574; finalDepth = 2133.004830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8891429999999 # Actual altitude: 66.8891429999999 # Commanded vehicle depth:2133.00483 # Seafloor depth:-2198.315293 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.38; MB_Bottom_Detect_Filter_Max_Range = 267.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2198.540574 meters looking forward 200.000000 meters along route # Maximum depth: 2204.008079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2133.540574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939574; longitude = -129.102218; captureRadius = 10; duration = 104; initialDepth = 2135.584864; finalDepth = 2133.540574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.175894 # Actual altitude: 67.175894 # Commanded vehicle depth:2133.540574 # Seafloor depth:-2200.716468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.44; MB_Bottom_Detect_Filter_Max_Range = 268.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2200.584864 meters looking forward 200.000000 meters along route # Maximum depth: 2209.095139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2135.584864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938703; longitude = -129.102733; captureRadius = 10; duration = 104; initialDepth = 2141.682827; finalDepth = 2135.584864; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.293416 # Actual altitude: 69.293416 # Commanded vehicle depth:2135.584864 # Seafloor depth:-2204.878280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.86; MB_Bottom_Detect_Filter_Max_Range = 277.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2206.682827 meters looking forward 200.000000 meters along route # Maximum depth: 2215.277824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2141.682827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937865; longitude = -129.103228; captureRadius = 10; duration = 104; initialDepth = 2145.499562; finalDepth = 2141.682827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.293416 # Actual altitude: 69.293416 # Commanded vehicle depth:2141.682827 # Seafloor depth:-2209.522118 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.86; MB_Bottom_Detect_Filter_Max_Range = 277.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2210.499562 meters looking forward 200.000000 meters along route # Maximum depth: 2217.032991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2145.499562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936966; longitude = -129.103759; captureRadius = 10; duration = 104; initialDepth = 2150.515116; finalDepth = 2145.499562; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8202700000002 # Actual altitude: 69.8202700000002 # Commanded vehicle depth:2145.499562 # Seafloor depth:-2215.319832 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2215.515116 meters looking forward 200.000000 meters along route # Maximum depth: 2220.036713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2150.515116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936066; longitude = -129.104291; captureRadius = 10; duration = 104; initialDepth = 2150.650806; finalDepth = 2150.515116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8202700000002 # Actual altitude: 69.8202700000002 # Commanded vehicle depth:2150.515116 # Seafloor depth:-2216.805042 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 279.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2215.650806 meters looking forward 200.000000 meters along route # Maximum depth: 2220.036713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2150.650806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935167; longitude = -129.104823; captureRadius = 10; duration = 104; initialDepth = 2149.186351; finalDepth = 2150.650806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9668979999997 # Actual altitude: 68.9668979999997 # Commanded vehicle depth:2150.650806 # Seafloor depth:-2219.617704 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2214.186351 meters looking forward 200.000000 meters along route # Maximum depth: 2218.514800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2149.186351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934268; longitude = -129.105354; captureRadius = 10; duration = 104; initialDepth = 2147.019192; finalDepth = 2149.186351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9668979999997 # Actual altitude: 68.9668979999997 # Commanded vehicle depth:2149.186351 # Seafloor depth:-2215.483263 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.87; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.79; MB_Bottom_Detect_Filter_Max_Range = 275.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2212.019192 meters looking forward 200.000000 meters along route # Maximum depth: 2215.913600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2147.019192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933368; longitude = -129.105886; captureRadius = 10; duration = 104; initialDepth = 2144.552821; finalDepth = 2147.019192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5299789999999 # Actual altitude: 66.5299789999999 # Commanded vehicle depth:2147.019192 # Seafloor depth:-2213.549171 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.12; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.31; MB_Bottom_Detect_Filter_Max_Range = 266.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2209.552821 meters looking forward 200.000000 meters along route # Maximum depth: 2213.789075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2144.552821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932469; longitude = -129.106417; captureRadius = 10; duration = 104; initialDepth = 2139.999315; finalDepth = 2144.552821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2362539999999 # Actual altitude: 69.2362539999999 # Commanded vehicle depth:2144.552821 # Seafloor depth:-2213.789075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 276.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2204.999315 meters looking forward 200.000000 meters along route # Maximum depth: 2212.868781 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2139.999315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931569; longitude = -129.106949; captureRadius = 10; duration = 104; initialDepth = 2106.763072; finalDepth = 2139.999315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1408769999998 # Actual altitude: 70.1408769999998 # Commanded vehicle depth:2139.999315 # Seafloor depth:-2210.140192 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.03; MB_Bottom_Detect_Filter_Max_Range = 280.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2171.763072 meters looking forward 200.000000 meters along route # Maximum depth: 2209.138591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.763072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930670; longitude = -129.107481; captureRadius = 10; duration = 104; initialDepth = 2106.763072; finalDepth = 2106.763072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.2636789999997 # Actual altitude: 97.2636789999997 # Commanded vehicle depth:2106.763072 # Seafloor depth:-2204.026751 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 389.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.45; MB_Bottom_Detect_Filter_Max_Range = 389.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 389.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2171.763072 meters looking forward 200.000000 meters along route # Maximum depth: 2201.660619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.763072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929771; longitude = -129.108012; captureRadius = 10; duration = 104; initialDepth = 2118.307542; finalDepth = 2106.763072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.2636789999997 # Actual altitude: 97.2636789999997 # Commanded vehicle depth:2106.763072 # Seafloor depth:-2174.128446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 389.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.45; MB_Bottom_Detect_Filter_Max_Range = 389.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 389.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 104.851211 meters # Minimum depth: 2183.307542 meters looking forward 200.000000 meters along route # Maximum depth: 2203.132835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.307542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928871; longitude = -129.108544; captureRadius = 10; duration = 104; initialDepth = 2126.126875; finalDepth = 2118.307542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8025320000002 # Actual altitude: 79.8025320000002 # Commanded vehicle depth:2118.307542 # Seafloor depth:-2198.110074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 319.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 319.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2191.126875 meters looking forward 200.000000 meters along route # Maximum depth: 2203.132835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.126875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.927996; longitude = -129.109061; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2102.384336; finalDepth = 2126.126875; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8025320000002 # Actual altitude: 79.8025320000002 # Commanded vehicle depth:2126.126875 # Seafloor depth:-2202.612305 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 319.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 319.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.851211 meters # Minimum depth: 2167.384336 meters looking forward 200.000000 meters along route # Maximum depth: 2203.132835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.384336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928200; longitude = -129.109826; captureRadius = 10; duration = 104; initialDepth = 2096.994989; finalDepth = 2102.384336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 85.640562 # Actual altitude: 85.640562 # Commanded vehicle depth:2102.384336 # Seafloor depth:-2188.024898 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 342.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.13; MB_Bottom_Detect_Filter_Max_Range = 342.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 104.851211 meters # Minimum depth: 2161.994989 meters looking forward 200.000000 meters along route # Maximum depth: 2184.917586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.994989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.928560; longitude = -129.111176; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2096.114979; finalDepth = 2096.994989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.640562 # Actual altitude: 85.640562 # Commanded vehicle depth:2096.994989 # Seafloor depth:-2167.945679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 342.56; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 17.13; MB_Bottom_Detect_Filter_Max_Range = 342.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2161.114979 meters looking forward 200.000000 meters along route # Maximum depth: 2165.923599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.114979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929411; longitude = -129.110673; captureRadius = 10; duration = 104; initialDepth = 2096.114979; finalDepth = 2096.114979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.9506900000001 # Actual altitude: 70.9506900000001 # Commanded vehicle depth:2096.114979 # Seafloor depth:-2161.788407 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.19; MB_Bottom_Detect_Filter_Max_Range = 283.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2161.114979 meters looking forward 200.000000 meters along route # Maximum depth: 2169.998444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.114979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930310; longitude = -129.110142; captureRadius = 10; duration = 104; initialDepth = 2100.517550; finalDepth = 2096.114979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2883470000002 # Actual altitude: 68.2883470000002 # Commanded vehicle depth:2096.114979 # Seafloor depth:-2164.403326 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2165.517550 meters looking forward 200.000000 meters along route # Maximum depth: 2169.998444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.517550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931210; longitude = -129.109610; captureRadius = 10; duration = 104; initialDepth = 2102.887551; finalDepth = 2100.517550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9867060000001 # Actual altitude: 68.9867060000001 # Commanded vehicle depth:2100.51755 # Seafloor depth:-2169.504256 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.80; MB_Bottom_Detect_Filter_Max_Range = 275.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2167.887551 meters looking forward 200.000000 meters along route # Maximum depth: 2169.534828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.887551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932109; longitude = -129.109079; captureRadius = 10; duration = 104; initialDepth = 2103.293467; finalDepth = 2102.887551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9867060000001 # Actual altitude: 68.9867060000001 # Commanded vehicle depth:2102.887551 # Seafloor depth:-2167.887551 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.80; MB_Bottom_Detect_Filter_Max_Range = 275.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2168.293467 meters looking forward 200.000000 meters along route # Maximum depth: 2171.291022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.293467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933008; longitude = -129.108547; captureRadius = 10; duration = 104; initialDepth = 2105.868825; finalDepth = 2103.293467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6082510000001 # Actual altitude: 66.6082510000001 # Commanded vehicle depth:2103.293467 # Seafloor depth:-2169.901718 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.32; MB_Bottom_Detect_Filter_Max_Range = 266.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2170.868825 meters looking forward 200.000000 meters along route # Maximum depth: 2171.623190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.868825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933908; longitude = -129.108016; captureRadius = 10; duration = 104; initialDepth = 2105.889541; finalDepth = 2105.868825; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6082510000001 # Actual altitude: 66.6082510000001 # Commanded vehicle depth:2105.868825 # Seafloor depth:-2171.406856 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.43; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.32; MB_Bottom_Detect_Filter_Max_Range = 266.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2170.889541 meters looking forward 200.000000 meters along route # Maximum depth: 2173.742829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.889541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934807; longitude = -129.107484; captureRadius = 10; duration = 104; initialDepth = 2106.409810; finalDepth = 2105.889541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.538031 # Actual altitude: 65.538031 # Commanded vehicle depth:2105.889541 # Seafloor depth:-2171.062928 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 262.15; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.11; MB_Bottom_Detect_Filter_Max_Range = 262.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2171.409810 meters looking forward 200.000000 meters along route # Maximum depth: 2174.452322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.409810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935707; longitude = -129.106952; captureRadius = 10; duration = 104; initialDepth = 2109.275405; finalDepth = 2106.409810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.635546 # Actual altitude: 67.635546 # Commanded vehicle depth:2106.40981 # Seafloor depth:-2174.045356 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2174.275405 meters looking forward 200.000000 meters along route # Maximum depth: 2179.281287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.275405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936606; longitude = -129.106421; captureRadius = 10; duration = 104; initialDepth = 2109.616371; finalDepth = 2109.275405; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.635546 # Actual altitude: 67.635546 # Commanded vehicle depth:2109.275405 # Seafloor depth:-2174.356213 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.54; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.53; MB_Bottom_Detect_Filter_Max_Range = 270.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2174.616371 meters looking forward 200.000000 meters along route # Maximum depth: 2183.004839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.616371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937505; longitude = -129.105889; captureRadius = 10; duration = 104; initialDepth = 2115.446175; finalDepth = 2109.616371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.032948 # Actual altitude: 70.032948 # Commanded vehicle depth:2109.616371 # Seafloor depth:-2179.649319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.01; MB_Bottom_Detect_Filter_Max_Range = 280.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2180.446175 meters looking forward 200.000000 meters along route # Maximum depth: 2185.799233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.446175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938405; longitude = -129.105358; captureRadius = 10; duration = 104; initialDepth = 2118.366196; finalDepth = 2115.446175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.032948 # Actual altitude: 70.032948 # Commanded vehicle depth:2115.446175 # Seafloor depth:-2183.219952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.13; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.01; MB_Bottom_Detect_Filter_Max_Range = 280.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2183.366196 meters looking forward 200.000000 meters along route # Maximum depth: 2186.116689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.366196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939304; longitude = -129.104826; captureRadius = 10; duration = 104; initialDepth = 2113.313050; finalDepth = 2118.366196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7737769999999 # Actual altitude: 67.7737769999999 # Commanded vehicle depth:2118.366196 # Seafloor depth:-2185.945783 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.10; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2178.313050 meters looking forward 200.000000 meters along route # Maximum depth: 2186.116689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.313050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940204; longitude = -129.104295; captureRadius = 10; duration = 104; initialDepth = 2109.118582; finalDepth = 2113.313050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.735283 # Actual altitude: 69.735283 # Commanded vehicle depth:2113.31305 # Seafloor depth:-2183.048333 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2174.118582 meters looking forward 200.000000 meters along route # Maximum depth: 2182.483311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.118582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941103; longitude = -129.103763; captureRadius = 10; duration = 104; initialDepth = 2107.324744; finalDepth = 2109.118582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.735283 # Actual altitude: 69.735283 # Commanded vehicle depth:2109.118582 # Seafloor depth:-2177.770664 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.94; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.95; MB_Bottom_Detect_Filter_Max_Range = 278.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2172.324744 meters looking forward 200.000000 meters along route # Maximum depth: 2176.737258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2107.324744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942002; longitude = -129.103232; captureRadius = 10; duration = 104; initialDepth = 2102.093550; finalDepth = 2107.324744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6520820000001 # Actual altitude: 68.6520820000001 # Commanded vehicle depth:2107.324744 # Seafloor depth:-2173.960794 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.61; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2167.093550 meters looking forward 200.000000 meters along route # Maximum depth: 2173.588801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.093550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942902; longitude = -129.102700; captureRadius = 10; duration = 104; initialDepth = 2099.947380; finalDepth = 2102.093550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.080136 # Actual altitude: 70.080136 # Commanded vehicle depth:2102.09355 # Seafloor depth:-2172.173686 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.32; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.02; MB_Bottom_Detect_Filter_Max_Range = 280.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2164.947380 meters looking forward 200.000000 meters along route # Maximum depth: 2171.572577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.947380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943801; longitude = -129.102169; captureRadius = 10; duration = 104; initialDepth = 2098.836719; finalDepth = 2099.947380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.080136 # Actual altitude: 70.080136 # Commanded vehicle depth:2099.94738 # Seafloor depth:-2166.865701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.32; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.02; MB_Bottom_Detect_Filter_Max_Range = 280.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2163.836719 meters looking forward 200.000000 meters along route # Maximum depth: 2166.096375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.836719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944701; longitude = -129.101637; captureRadius = 10; duration = 104; initialDepth = 2098.836719; finalDepth = 2098.836719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9183210000001 # Actual altitude: 66.9183210000001 # Commanded vehicle depth:2098.836719 # Seafloor depth:-2165.005626 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.38; MB_Bottom_Detect_Filter_Max_Range = 267.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2163.836719 meters looking forward 200.000000 meters along route # Maximum depth: 2166.689364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.836719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945600; longitude = -129.101106; captureRadius = 10; duration = 104; initialDepth = 2099.285538; finalDepth = 2098.836719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1689070000002 # Actual altitude: 66.1689070000002 # Commanded vehicle depth:2098.836719 # Seafloor depth:-2163.975487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.68; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2164.285538 meters looking forward 200.000000 meters along route # Maximum depth: 2174.525329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.285538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946471; longitude = -129.100591; captureRadius = 10; duration = 104; initialDepth = 2102.028416; finalDepth = 2099.285538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2462820000001 # Actual altitude: 67.2462820000001 # Commanded vehicle depth:2099.285538 # Seafloor depth:-2166.531820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.45; MB_Bottom_Detect_Filter_Max_Range = 268.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2167.028416 meters looking forward 200.000000 meters along route # Maximum depth: 2180.610733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2102.028416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947309; longitude = -129.100096; captureRadius = 10; duration = 104; initialDepth = 2111.243408; finalDepth = 2102.028416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1753739999999 # Actual altitude: 73.1753739999999 # Commanded vehicle depth:2102.028416 # Seafloor depth:-2175.203790 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.64; MB_Bottom_Detect_Filter_Max_Range = 292.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2176.243408 meters looking forward 200.000000 meters along route # Maximum depth: 2182.361539 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2111.243408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948208; longitude = -129.099564; captureRadius = 10; duration = 104; initialDepth = 2116.798419; finalDepth = 2111.243408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1753739999999 # Actual altitude: 73.1753739999999 # Commanded vehicle depth:2111.243408 # Seafloor depth:-2181.162567 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 292.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.64; MB_Bottom_Detect_Filter_Max_Range = 292.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2181.798419 meters looking forward 200.000000 meters along route # Maximum depth: 2189.695533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2116.798419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949108; longitude = -129.099033; captureRadius = 10; duration = 104; initialDepth = 2119.444123; finalDepth = 2116.798419; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.919159 # Actual altitude: 69.919159 # Commanded vehicle depth:2116.798419 # Seafloor depth:-2182.997807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 279.68; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.98; MB_Bottom_Detect_Filter_Max_Range = 279.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2184.444123 meters looking forward 200.000000 meters along route # Maximum depth: 2190.847388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.444123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950007; longitude = -129.098501; captureRadius = 10; duration = 104; initialDepth = 2121.301244; finalDepth = 2119.444123; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8633689999997 # Actual altitude: 70.8633689999997 # Commanded vehicle depth:2119.444123 # Seafloor depth:-2190.307492 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.45; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.17; MB_Bottom_Detect_Filter_Max_Range = 283.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2186.301244 meters looking forward 200.000000 meters along route # Maximum depth: 2190.847388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2121.301244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950907; longitude = -129.097970; captureRadius = 10; duration = 104; initialDepth = 2117.820930; finalDepth = 2121.301244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8633689999997 # Actual altitude: 70.8633689999997 # Commanded vehicle depth:2121.301244 # Seafloor depth:-2189.620122 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.45; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.17; MB_Bottom_Detect_Filter_Max_Range = 283.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2182.820930 meters looking forward 200.000000 meters along route # Maximum depth: 2189.305594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2117.820930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951806; longitude = -129.097438; captureRadius = 10; duration = 104; initialDepth = 2117.783144; finalDepth = 2117.820930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3188779999996 # Actual altitude: 68.3188779999996 # Commanded vehicle depth:2117.82093 # Seafloor depth:-2185.842084 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.66; MB_Bottom_Detect_Filter_Max_Range = 273.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2182.783144 meters looking forward 200.000000 meters along route # Maximum depth: 2185.898872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2117.783144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952705; longitude = -129.096906; captureRadius = 10; duration = 104; initialDepth = 2118.050552; finalDepth = 2117.783144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.021154 # Actual altitude: 68.021154 # Commanded vehicle depth:2117.783144 # Seafloor depth:-2182.783144 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.08; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.60; MB_Bottom_Detect_Filter_Max_Range = 272.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2183.050552 meters looking forward 200.000000 meters along route # Maximum depth: 2190.524778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2118.050552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953605; longitude = -129.096375; captureRadius = 10; duration = 104; initialDepth = 2122.552220; finalDepth = 2118.050552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3437079999999 # Actual altitude: 68.3437079999999 # Commanded vehicle depth:2118.050552 # Seafloor depth:-2186.394260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.67; MB_Bottom_Detect_Filter_Max_Range = 273.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2187.552220 meters looking forward 200.000000 meters along route # Maximum depth: 2190.832726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.552220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954504; longitude = -129.095843; captureRadius = 10; duration = 104; initialDepth = 2122.418729; finalDepth = 2122.552220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3437079999999 # Actual altitude: 68.3437079999999 # Commanded vehicle depth:2122.55222 # Seafloor depth:-2190.745747 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 273.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.67; MB_Bottom_Detect_Filter_Max_Range = 273.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2187.418729 meters looking forward 200.000000 meters along route # Maximum depth: 2190.719978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.418729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955404; longitude = -129.095312; captureRadius = 10; duration = 104; initialDepth = 2122.418729; finalDepth = 2122.418729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1935269999999 # Actual altitude: 68.1935269999999 # Commanded vehicle depth:2122.418729 # Seafloor depth:-2188.013148 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.77; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.64; MB_Bottom_Detect_Filter_Max_Range = 272.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2187.418729 meters looking forward 200.000000 meters along route # Maximum depth: 2189.390400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.418729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956303; longitude = -129.094780; captureRadius = 10; duration = 104; initialDepth = 2122.732064; finalDepth = 2122.418729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.594419 # Actual altitude: 65.594419 # Commanded vehicle depth:2122.418729 # Seafloor depth:-2187.757092 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 262.38; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.12; MB_Bottom_Detect_Filter_Max_Range = 262.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2187.732064 meters looking forward 200.000000 meters along route # Maximum depth: 2191.584260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.732064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957202; longitude = -129.094249; captureRadius = 10; duration = 104; initialDepth = 2125.248895; finalDepth = 2122.732064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9399450000001 # Actual altitude: 66.9399450000001 # Commanded vehicle depth:2122.732064 # Seafloor depth:-2189.672009 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2190.248895 meters looking forward 200.000000 meters along route # Maximum depth: 2191.908079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.248895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958102; longitude = -129.093717; captureRadius = 10; duration = 104; initialDepth = 2126.357077; finalDepth = 2125.248895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.9399450000001 # Actual altitude: 66.9399450000001 # Commanded vehicle depth:2125.248895 # Seafloor depth:-2191.551927 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.39; MB_Bottom_Detect_Filter_Max_Range = 267.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2191.357077 meters looking forward 200.000000 meters along route # Maximum depth: 2192.551806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2126.357077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959001; longitude = -129.093186; captureRadius = 10; duration = 104; initialDepth = 2125.230534; finalDepth = 2126.357077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3030319999998 # Actual altitude: 66.3030319999998 # Commanded vehicle depth:2126.357077 # Seafloor depth:-2191.453798 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.26; MB_Bottom_Detect_Filter_Max_Range = 265.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2190.230534 meters looking forward 200.000000 meters along route # Maximum depth: 2192.551806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2125.230534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959901; longitude = -129.092654; captureRadius = 10; duration = 104; initialDepth = 2122.398416; finalDepth = 2125.230534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.2053000000001 # Actual altitude: 67.2053000000001 # Commanded vehicle depth:2125.230534 # Seafloor depth:-2192.435834 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 268.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.44; MB_Bottom_Detect_Filter_Max_Range = 268.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2187.398416 meters looking forward 200.000000 meters along route # Maximum depth: 2192.149301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2122.398416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960800; longitude = -129.092123; captureRadius = 10; duration = 104; initialDepth = 2120.363456; finalDepth = 2122.398416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6902989999999 # Actual altitude: 67.6902989999999 # Commanded vehicle depth:2122.398416 # Seafloor depth:-2190.088715 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.54; MB_Bottom_Detect_Filter_Max_Range = 270.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2185.363456 meters looking forward 200.000000 meters along route # Maximum depth: 2189.740187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2120.363456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961699; longitude = -129.091591; captureRadius = 10; duration = 104; initialDepth = 2119.065532; finalDepth = 2120.363456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6902989999999 # Actual altitude: 67.6902989999999 # Commanded vehicle depth:2120.363456 # Seafloor depth:-2187.140757 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.76; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.54; MB_Bottom_Detect_Filter_Max_Range = 270.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2184.065532 meters looking forward 200.000000 meters along route # Maximum depth: 2186.524066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2119.065532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962599; longitude = -129.091060; captureRadius = 10; duration = 104; initialDepth = 2113.317913; finalDepth = 2119.065532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7773010000001 # Actual altitude: 66.7773010000001 # Commanded vehicle depth:2119.065532 # Seafloor depth:-2185.151031 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.11; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.36; MB_Bottom_Detect_Filter_Max_Range = 267.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2178.317913 meters looking forward 200.000000 meters along route # Maximum depth: 2184.638776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2113.317913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963498; longitude = -129.090528; captureRadius = 10; duration = 104; initialDepth = 2110.619696; finalDepth = 2113.317913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5885499999999 # Actual altitude: 70.5885499999999 # Commanded vehicle depth:2113.317913 # Seafloor depth:-2183.906463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2175.619696 meters looking forward 200.000000 meters along route # Maximum depth: 2182.774347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.619696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964398; longitude = -129.089997; captureRadius = 10; duration = 104; initialDepth = 2108.879477; finalDepth = 2110.619696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5885499999999 # Actual altitude: 70.5885499999999 # Commanded vehicle depth:2110.619696 # Seafloor depth:-2178.080386 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2173.879477 meters looking forward 200.000000 meters along route # Maximum depth: 2176.760938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.879477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965297; longitude = -129.089465; captureRadius = 10; duration = 104; initialDepth = 2106.241582; finalDepth = 2108.879477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4606899999999 # Actual altitude: 67.4606899999999 # Commanded vehicle depth:2108.879477 # Seafloor depth:-2175.756928 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.84; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2171.241582 meters looking forward 200.000000 meters along route # Maximum depth: 2175.391809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.241582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966196; longitude = -129.088933; captureRadius = 10; duration = 104; initialDepth = 2105.406066; finalDepth = 2106.241582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5785780000001 # Actual altitude: 67.5785780000001 # Commanded vehicle depth:2106.241582 # Seafloor depth:-2173.820160 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.52; MB_Bottom_Detect_Filter_Max_Range = 270.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2170.406066 meters looking forward 200.000000 meters along route # Maximum depth: 2173.038483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2105.406066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967096; longitude = -129.088402; captureRadius = 10; duration = 104; initialDepth = 2104.591815; finalDepth = 2105.406066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5785780000001 # Actual altitude: 67.5785780000001 # Commanded vehicle depth:2105.406066 # Seafloor depth:-2171.235800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.52; MB_Bottom_Detect_Filter_Max_Range = 270.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2169.591815 meters looking forward 200.000000 meters along route # Maximum depth: 2170.827246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.591815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967995; longitude = -129.087870; captureRadius = 10; duration = 104; initialDepth = 2104.591815; finalDepth = 2104.591815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0165309999998 # Actual altitude: 66.0165309999998 # Commanded vehicle depth:2104.591815 # Seafloor depth:-2170.608346 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.20; MB_Bottom_Detect_Filter_Max_Range = 264.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.851211 meters # Minimum depth: 2169.591815 meters looking forward 200.000000 meters along route # Maximum depth: 2172.017598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.591815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968895; longitude = -129.087339; captureRadius = 10; duration = 104; initialDepth = 2104.731827; finalDepth = 2104.591815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0165309999998 # Actual altitude: 66.0165309999998 # Commanded vehicle depth:2104.591815 # Seafloor depth:-2170.593246 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.20; MB_Bottom_Detect_Filter_Max_Range = 264.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2169.731827 meters looking forward 200.000000 meters along route # Maximum depth: 2172.024292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.731827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969754; longitude = -129.086831; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2098.991122; finalDepth = 2104.731827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.292465 # Actual altitude: 67.292465 # Commanded vehicle depth:2104.731827 # Seafloor depth:-2172.024292 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.17; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.46; MB_Bottom_Detect_Filter_Max_Range = 269.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 104.851211 meters # Minimum depth: 2163.991122 meters looking forward 200.000000 meters along route # Maximum depth: 2172.024292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.991122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969962; longitude = -129.087609; captureRadius = 10; duration = 104; initialDepth = 2098.728271; finalDepth = 2098.991122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 70.609997 # Actual altitude: 70.609997 # Commanded vehicle depth:2098.991122 # Seafloor depth:-2169.601119 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 104.851211 meters # Minimum depth: 2163.728271 meters looking forward 200.000000 meters along route # Maximum depth: 2172.024292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.728271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970319; longitude = -129.088948; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2098.728271; finalDepth = 2098.728271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.609997 # Actual altitude: 70.609997 # Commanded vehicle depth:2098.728271 # Seafloor depth:-2163.728271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.44; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2163.728271 meters looking forward 200.000000 meters along route # Maximum depth: 2167.429169 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.728271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970244; longitude = -129.088992; captureRadius = 10; duration = 104; initialDepth = 2099.421230; finalDepth = 2098.728271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3083510000001 # Actual altitude: 65.3083510000001 # Commanded vehicle depth:2098.728271 # Seafloor depth:-2164.036622 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 261.23; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.06; MB_Bottom_Detect_Filter_Max_Range = 261.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2164.421230 meters looking forward 200.000000 meters along route # Maximum depth: 2171.277138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2099.421230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969344; longitude = -129.089524; captureRadius = 10; duration = 104; initialDepth = 2103.516609; finalDepth = 2099.421230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2375849999999 # Actual altitude: 68.2375849999999 # Commanded vehicle depth:2099.42123 # Seafloor depth:-2167.658815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.65; MB_Bottom_Detect_Filter_Max_Range = 272.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2168.516609 meters looking forward 200.000000 meters along route # Maximum depth: 2174.385129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2103.516609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968445; longitude = -129.090055; captureRadius = 10; duration = 104; initialDepth = 2106.870211; finalDepth = 2103.516609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2375849999999 # Actual altitude: 68.2375849999999 # Commanded vehicle depth:2103.516609 # Seafloor depth:-2171.365170 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.65; MB_Bottom_Detect_Filter_Max_Range = 272.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2171.870211 meters looking forward 200.000000 meters along route # Maximum depth: 2175.571180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.870211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967546; longitude = -129.090587; captureRadius = 10; duration = 104; initialDepth = 2109.000358; finalDepth = 2106.870211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.8485610000002 # Actual altitude: 67.8485610000002 # Commanded vehicle depth:2106.870211 # Seafloor depth:-2174.420295 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.57; MB_Bottom_Detect_Filter_Max_Range = 271.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2174.000358 meters looking forward 200.000000 meters along route # Maximum depth: 2175.596036 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.000358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966646; longitude = -129.091118; captureRadius = 10; duration = 104; initialDepth = 2106.191446; finalDepth = 2109.000358; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.550084 # Actual altitude: 67.550084 # Commanded vehicle depth:2109.000358 # Seafloor depth:-2175.593427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.20; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.51; MB_Bottom_Detect_Filter_Max_Range = 270.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2171.191446 meters looking forward 200.000000 meters along route # Maximum depth: 2175.581911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2106.191446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965747; longitude = -129.091650; captureRadius = 10; duration = 104; initialDepth = 2098.530968; finalDepth = 2106.191446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4548480000003 # Actual altitude: 67.4548480000003 # Commanded vehicle depth:2106.191446 # Seafloor depth:-2173.646294 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.49; MB_Bottom_Detect_Filter_Max_Range = 269.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2163.530968 meters looking forward 200.000000 meters along route # Maximum depth: 2174.526307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2098.530968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964847; longitude = -129.092181; captureRadius = 10; duration = 104; initialDepth = 2093.311716; finalDepth = 2098.530968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9951150000002 # Actual altitude: 71.9951150000002 # Commanded vehicle depth:2098.530968 # Seafloor depth:-2170.526083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.40; MB_Bottom_Detect_Filter_Max_Range = 287.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2158.311716 meters looking forward 200.000000 meters along route # Maximum depth: 2169.486651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.311716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963978; longitude = -129.092695; captureRadius = 10; duration = 104; initialDepth = 2093.311716; finalDepth = 2093.311716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.9951150000002 # Actual altitude: 71.9951150000002 # Commanded vehicle depth:2093.311716 # Seafloor depth:-2162.525677 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.98; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.40; MB_Bottom_Detect_Filter_Max_Range = 287.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2158.311716 meters looking forward 200.000000 meters along route # Maximum depth: 2160.799376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.311716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963138; longitude = -129.093191; captureRadius = 10; duration = 104; initialDepth = 2094.342100; finalDepth = 2093.311716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2139609999999 # Actual altitude: 69.2139609999999 # Commanded vehicle depth:2093.311716 # Seafloor depth:-2158.603931 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.86; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.84; MB_Bottom_Detect_Filter_Max_Range = 276.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2159.342100 meters looking forward 200.000000 meters along route # Maximum depth: 2163.830673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.342100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962239; longitude = -129.093723; captureRadius = 10; duration = 104; initialDepth = 2095.727367; finalDepth = 2094.342100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9583170000001 # Actual altitude: 65.9583170000001 # Commanded vehicle depth:2094.3421 # Seafloor depth:-2160.300417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.19; MB_Bottom_Detect_Filter_Max_Range = 263.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2160.727367 meters looking forward 200.000000 meters along route # Maximum depth: 2174.013674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.727367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961340; longitude = -129.094254; captureRadius = 10; duration = 104; initialDepth = 2101.813010; finalDepth = 2095.727367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2380899999998 # Actual altitude: 69.2380899999998 # Commanded vehicle depth:2095.727367 # Seafloor depth:-2164.965457 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 276.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 276.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2166.813010 meters looking forward 200.000000 meters along route # Maximum depth: 2175.552075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.813010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960440; longitude = -129.094786; captureRadius = 10; duration = 104; initialDepth = 2110.026257; finalDepth = 2101.813010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.987963 # Actual altitude: 72.987963 # Commanded vehicle depth:2101.81301 # Seafloor depth:-2174.800973 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 291.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.60; MB_Bottom_Detect_Filter_Max_Range = 291.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2175.026257 meters looking forward 200.000000 meters along route # Maximum depth: 2179.201802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2110.026257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959541; longitude = -129.095317; captureRadius = 10; duration = 104; initialDepth = 2109.617476; finalDepth = 2110.026257; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.987963 # Actual altitude: 72.987963 # Commanded vehicle depth:2110.026257 # Seafloor depth:-2175.814138 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 291.95; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.60; MB_Bottom_Detect_Filter_Max_Range = 291.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2174.617476 meters looking forward 200.000000 meters along route # Maximum depth: 2179.201802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2109.617476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958641; longitude = -129.095849; captureRadius = 10; duration = 104; initialDepth = 2101.255596; finalDepth = 2109.617476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2629160000001 # Actual altitude: 69.2629160000001 # Commanded vehicle depth:2109.617476 # Seafloor depth:-2178.880392 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.85; MB_Bottom_Detect_Filter_Max_Range = 277.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2166.255596 meters looking forward 200.000000 meters along route # Maximum depth: 2178.291960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2101.255596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957742; longitude = -129.096380; captureRadius = 10; duration = 104; initialDepth = 2091.636434; finalDepth = 2101.255596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7629000000002 # Actual altitude: 72.7629000000002 # Commanded vehicle depth:2101.255596 # Seafloor depth:-2174.018496 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 291.05; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.55; MB_Bottom_Detect_Filter_Max_Range = 291.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2156.636434 meters looking forward 200.000000 meters along route # Maximum depth: 2172.061294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.636434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956843; longitude = -129.096912; captureRadius = 10; duration = 104; initialDepth = 2088.145771; finalDepth = 2091.636434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0780289999998 # Actual altitude: 74.0780289999998 # Commanded vehicle depth:2091.636434 # Seafloor depth:-2165.714463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 296.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.82; MB_Bottom_Detect_Filter_Max_Range = 296.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2153.145771 meters looking forward 200.000000 meters along route # Maximum depth: 2164.574912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.145771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955943; longitude = -129.097443; captureRadius = 10; duration = 104; initialDepth = 2087.721421; finalDepth = 2088.145771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0780289999998 # Actual altitude: 74.0780289999998 # Commanded vehicle depth:2088.145771 # Seafloor depth:-2155.667586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 296.31; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.82; MB_Bottom_Detect_Filter_Max_Range = 296.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2152.721421 meters looking forward 200.000000 meters along route # Maximum depth: 2154.589367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.721421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955044; longitude = -129.097975; captureRadius = 10; duration = 104; initialDepth = 2087.193670; finalDepth = 2087.721421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5218150000001 # Actual altitude: 67.5218150000001 # Commanded vehicle depth:2087.721421 # Seafloor depth:-2152.956911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.09; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 270.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2152.193670 meters looking forward 200.000000 meters along route # Maximum depth: 2153.234724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.193670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954144; longitude = -129.098506; captureRadius = 10; duration = 104; initialDepth = 2087.193670; finalDepth = 2087.193670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9905140000001 # Actual altitude: 65.9905140000001 # Commanded vehicle depth:2087.19367 # Seafloor depth:-2153.184184 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.20; MB_Bottom_Detect_Filter_Max_Range = 263.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2152.193670 meters looking forward 200.000000 meters along route # Maximum depth: 2154.836250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2087.193670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953245; longitude = -129.099038; captureRadius = 10; duration = 104; initialDepth = 2077.572696; finalDepth = 2087.193670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9905140000001 # Actual altitude: 65.9905140000001 # Commanded vehicle depth:2087.19367 # Seafloor depth:-2152.771729 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.96; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.20; MB_Bottom_Detect_Filter_Max_Range = 263.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2142.572696 meters looking forward 200.000000 meters along route # Maximum depth: 2154.836250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2077.572696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952346; longitude = -129.099569; captureRadius = 10; duration = 104; initialDepth = 2062.492494; finalDepth = 2077.572696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.5596209999999 # Actual altitude: 76.5596209999999 # Commanded vehicle depth:2077.572696 # Seafloor depth:-2154.132317 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 306.24; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.31; MB_Bottom_Detect_Filter_Max_Range = 306.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2127.492494 meters looking forward 200.000000 meters along route # Maximum depth: 2153.465155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.492494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951446; longitude = -129.100101; captureRadius = 10; duration = 104; initialDepth = 2048.794583; finalDepth = 2062.492494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5840279999998 # Actual altitude: 78.5840279999998 # Commanded vehicle depth:2062.492494 # Seafloor depth:-2141.076522 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 314.34; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 314.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2113.794583 meters looking forward 200.000000 meters along route # Maximum depth: 2138.432650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.794583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950547; longitude = -129.100632; captureRadius = 10; duration = 104; initialDepth = 2045.852061; finalDepth = 2048.794583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5840279999998 # Actual altitude: 78.5840279999998 # Commanded vehicle depth:2048.794583 # Seafloor depth:-2125.954957 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 314.34; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 314.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2110.852061 meters looking forward 200.000000 meters along route # Maximum depth: 2122.247042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.852061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949647; longitude = -129.101164; captureRadius = 10; duration = 104; initialDepth = 2045.852061; finalDepth = 2045.852061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.160374 # Actual altitude: 77.160374 # Commanded vehicle depth:2045.852061 # Seafloor depth:-2113.208236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 308.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.43; MB_Bottom_Detect_Filter_Max_Range = 308.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2110.852061 meters looking forward 200.000000 meters along route # Maximum depth: 2125.605393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2045.852061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948748; longitude = -129.101695; captureRadius = 10; duration = 104; initialDepth = 2054.410604; finalDepth = 2045.852061; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4357089999999 # Actual altitude: 71.4357089999999 # Commanded vehicle depth:2045.852061 # Seafloor depth:-2117.287770 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.74; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.29; MB_Bottom_Detect_Filter_Max_Range = 285.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2119.410604 meters looking forward 200.000000 meters along route # Maximum depth: 2132.661634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.410604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947849; longitude = -129.102227; captureRadius = 10; duration = 104; initialDepth = 2062.425498; finalDepth = 2054.410604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.668361 # Actual altitude: 71.668361 # Commanded vehicle depth:2054.410604 # Seafloor depth:-2126.078965 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.33; MB_Bottom_Detect_Filter_Max_Range = 286.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2127.425498 meters looking forward 200.000000 meters along route # Maximum depth: 2139.200600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2062.425498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946949; longitude = -129.102758; captureRadius = 10; duration = 104; initialDepth = 2069.873195; finalDepth = 2062.425498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.668361 # Actual altitude: 71.668361 # Commanded vehicle depth:2062.425498 # Seafloor depth:-2133.130444 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 286.67; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.33; MB_Bottom_Detect_Filter_Max_Range = 286.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2134.873195 meters looking forward 200.000000 meters along route # Maximum depth: 2148.831842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.873195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946050; longitude = -129.103290; captureRadius = 10; duration = 104; initialDepth = 2075.469124; finalDepth = 2069.873195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7049459999998 # Actual altitude: 70.7049459999998 # Commanded vehicle depth:2069.873195 # Seafloor depth:-2139.535685 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.14; MB_Bottom_Detect_Filter_Max_Range = 282.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2140.469124 meters looking forward 200.000000 meters along route # Maximum depth: 2152.455808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2075.469124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945181; longitude = -129.103803; captureRadius = 10; duration = 104; initialDepth = 2085.100802; finalDepth = 2075.469124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8507559999998 # Actual altitude: 73.8507559999998 # Commanded vehicle depth:2075.469124 # Seafloor depth:-2149.319880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.77; MB_Bottom_Detect_Filter_Max_Range = 295.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2150.100802 meters looking forward 200.000000 meters along route # Maximum depth: 2154.402180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2085.100802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944341; longitude = -129.104299; captureRadius = 10; duration = 104; initialDepth = 2088.008018; finalDepth = 2085.100802; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8507559999998 # Actual altitude: 73.8507559999998 # Commanded vehicle depth:2085.100802 # Seafloor depth:-2152.687418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 295.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.77; MB_Bottom_Detect_Filter_Max_Range = 295.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2153.008018 meters looking forward 200.000000 meters along route # Maximum depth: 2163.806480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2088.008018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943441; longitude = -129.104831; captureRadius = 10; duration = 104; initialDepth = 2093.063457; finalDepth = 2088.008018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.586616 # Actual altitude: 67.586616 # Commanded vehicle depth:2088.008018 # Seafloor depth:-2155.402859 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.52; MB_Bottom_Detect_Filter_Max_Range = 270.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2158.063457 meters looking forward 200.000000 meters along route # Maximum depth: 2167.748160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.063457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942542; longitude = -129.105362; captureRadius = 10; duration = 104; initialDepth = 2100.147706; finalDepth = 2093.063457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3952329999997 # Actual altitude: 71.3952329999997 # Commanded vehicle depth:2093.063457 # Seafloor depth:-2164.458690 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.28; MB_Bottom_Detect_Filter_Max_Range = 285.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2165.147706 meters looking forward 200.000000 meters along route # Maximum depth: 2167.858962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2100.147706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941643; longitude = -129.105894; captureRadius = 10; duration = 104; initialDepth = 2095.254147; finalDepth = 2100.147706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3952329999997 # Actual altitude: 71.3952329999997 # Commanded vehicle depth:2100.147706 # Seafloor depth:-2167.858962 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.28; MB_Bottom_Detect_Filter_Max_Range = 285.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2160.254147 meters looking forward 200.000000 meters along route # Maximum depth: 2167.577385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2095.254147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940743; longitude = -129.106425; captureRadius = 10; duration = 104; initialDepth = 2093.574445; finalDepth = 2095.254147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.499472 # Actual altitude: 69.499472 # Commanded vehicle depth:2095.254147 # Seafloor depth:-2164.753619 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.90; MB_Bottom_Detect_Filter_Max_Range = 278.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2158.574445 meters looking forward 200.000000 meters along route # Maximum depth: 2163.964873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.574445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939844; longitude = -129.106957; captureRadius = 10; duration = 104; initialDepth = 2091.832050; finalDepth = 2093.574445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.499472 # Actual altitude: 69.499472 # Commanded vehicle depth:2093.574445 # Seafloor depth:-2159.972060 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 278.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.90; MB_Bottom_Detect_Filter_Max_Range = 278.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2156.832050 meters looking forward 200.000000 meters along route # Maximum depth: 2160.239022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2091.832050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938944; longitude = -129.107488; captureRadius = 10; duration = 104; initialDepth = 2089.522934; finalDepth = 2091.832050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.044097 # Actual altitude: 68.044097 # Commanded vehicle depth:2091.83205 # Seafloor depth:-2159.876147 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2154.522934 meters looking forward 200.000000 meters along route # Maximum depth: 2160.239022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.522934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938045; longitude = -129.108020; captureRadius = 10; duration = 104; initialDepth = 2089.522934; finalDepth = 2089.522934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.044097 # Actual altitude: 68.044097 # Commanded vehicle depth:2089.522934 # Seafloor depth:-2156.324054 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.61; MB_Bottom_Detect_Filter_Max_Range = 272.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2154.522934 meters looking forward 200.000000 meters along route # Maximum depth: 2162.574987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2089.522934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937146; longitude = -129.108551; captureRadius = 10; duration = 104; initialDepth = 2094.267456; finalDepth = 2089.522934; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1364859999999 # Actual altitude: 68.1364859999999 # Commanded vehicle depth:2089.522934 # Seafloor depth:-2157.659420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.55; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.63; MB_Bottom_Detect_Filter_Max_Range = 272.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2159.267456 meters looking forward 200.000000 meters along route # Maximum depth: 2162.574987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2094.267456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936246; longitude = -129.109083; captureRadius = 10; duration = 104; initialDepth = 2093.710957; finalDepth = 2094.267456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1364859999999 # Actual altitude: 68.1364859999999 # Commanded vehicle depth:2094.267456 # Seafloor depth:-2162.365075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.55; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.63; MB_Bottom_Detect_Filter_Max_Range = 272.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2158.710957 meters looking forward 200.000000 meters along route # Maximum depth: 2161.953473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.710957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935347; longitude = -129.109614; captureRadius = 10; duration = 104; initialDepth = 2093.710957; finalDepth = 2093.710957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0976190000001 # Actual altitude: 68.0976190000001 # Commanded vehicle depth:2093.710957 # Seafloor depth:-2160.099323 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.39; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.62; MB_Bottom_Detect_Filter_Max_Range = 272.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2158.710957 meters looking forward 200.000000 meters along route # Maximum depth: 2168.157737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2093.710957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934447; longitude = -129.110146; captureRadius = 10; duration = 104; initialDepth = 2096.104774; finalDepth = 2093.710957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.3883660000001 # Actual altitude: 66.3883660000001 # Commanded vehicle depth:2093.710957 # Seafloor depth:-2159.572740 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.55; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.28; MB_Bottom_Detect_Filter_Max_Range = 265.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2161.104774 meters looking forward 200.000000 meters along route # Maximum depth: 2171.593742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2096.104774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933548; longitude = -129.110677; captureRadius = 10; duration = 104; initialDepth = 2104.530626; finalDepth = 2096.104774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4979640000001 # Actual altitude: 72.4979640000001 # Commanded vehicle depth:2096.104774 # Seafloor depth:-2168.602738 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 289.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.50; MB_Bottom_Detect_Filter_Max_Range = 289.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2169.530626 meters looking forward 200.000000 meters along route # Maximum depth: 2177.504989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2104.530626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932649; longitude = -129.111209; captureRadius = 10; duration = 104; initialDepth = 2108.949139; finalDepth = 2104.530626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.4979640000001 # Actual altitude: 72.4979640000001 # Commanded vehicle depth:2104.530626 # Seafloor depth:-2172.424048 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 289.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.50; MB_Bottom_Detect_Filter_Max_Range = 289.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2173.949139 meters looking forward 200.000000 meters along route # Maximum depth: 2181.894511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2108.949139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931749; longitude = -129.111740; captureRadius = 10; duration = 104; initialDepth = 2112.751683; finalDepth = 2108.949139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7008460000002 # Actual altitude: 68.7008460000002 # Commanded vehicle depth:2108.949139 # Seafloor depth:-2177.649985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.80; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.74; MB_Bottom_Detect_Filter_Max_Range = 274.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2177.751683 meters looking forward 200.000000 meters along route # Maximum depth: 2184.371269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2112.751683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930850; longitude = -129.112272; captureRadius = 10; duration = 104; initialDepth = 2115.871189; finalDepth = 2112.751683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3735360000001 # Actual altitude: 69.3735360000001 # Commanded vehicle depth:2112.751683 # Seafloor depth:-2182.125219 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.87; MB_Bottom_Detect_Filter_Max_Range = 277.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 104.851211 meters # Minimum depth: 2180.871189 meters looking forward 200.000000 meters along route # Maximum depth: 2184.371269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2115.871189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930006; longitude = -129.112770; captureRadius = 10; duration = 104; initialDepth = 2086.293497; finalDepth = 2115.871189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3735360000001 # Actual altitude: 69.3735360000001 # Commanded vehicle depth:2115.871189 # Seafloor depth:-2183.765456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 277.49; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.87; MB_Bottom_Detect_Filter_Max_Range = 277.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2151.293497 meters looking forward 200.000000 meters along route # Maximum depth: 2184.371269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.293497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929125; longitude = -129.113291; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2050.079320; finalDepth = 2086.293497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.4563199999998 # Actual altitude: 97.4563199999998 # Commanded vehicle depth:2086.293497 # Seafloor depth:-2183.749817 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 389.83; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.49; MB_Bottom_Detect_Filter_Max_Range = 389.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 389.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.851211 meters # Minimum depth: 2115.079320 meters looking forward 200.000000 meters along route # Maximum depth: 2183.749817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.079320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929343; longitude = -129.114109; captureRadius = 10; duration = 104; initialDepth = 2049.221343; finalDepth = 2050.079320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 97.5712410000001 # Actual altitude: 97.5712410000001 # Commanded vehicle depth:2050.07932 # Seafloor depth:-2147.650561 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 390.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.51; MB_Bottom_Detect_Filter_Max_Range = 390.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 390.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 104.851211 meters # Minimum depth: 2114.221343 meters looking forward 200.000000 meters along route # Maximum depth: 2151.293497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.221343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.929689; longitude = -129.115407; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2048.944660; finalDepth = 2049.221343; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.5712410000001 # Actual altitude: 97.5712410000001 # Commanded vehicle depth:2049.221343 # Seafloor depth:-2115.025818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 390.28; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.51; MB_Bottom_Detect_Filter_Max_Range = 390.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 390.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2113.944660 meters looking forward 200.000000 meters along route # Maximum depth: 2115.414872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2048.944660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.930400; longitude = -129.114985; captureRadius = 10; duration = 104; initialDepth = 2049.047253; finalDepth = 2048.944660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.8044749999999 # Actual altitude: 65.8044749999999 # Commanded vehicle depth:2048.94466 # Seafloor depth:-2114.053053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.22; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.16; MB_Bottom_Detect_Filter_Max_Range = 263.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2114.047253 meters looking forward 200.000000 meters along route # Maximum depth: 2116.595998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.047253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.931300; longitude = -129.114451; captureRadius = 10; duration = 104; initialDepth = 2049.337806; finalDepth = 2049.047253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2943309999996 # Actual altitude: 66.2943309999996 # Commanded vehicle depth:2049.047253 # Seafloor depth:-2115.341584 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.26; MB_Bottom_Detect_Filter_Max_Range = 265.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2114.337806 meters looking forward 200.000000 meters along route # Maximum depth: 2116.595998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.337806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.932199; longitude = -129.113918; captureRadius = 10; duration = 104; initialDepth = 2049.337806; finalDepth = 2049.337806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2943309999996 # Actual altitude: 66.2943309999996 # Commanded vehicle depth:2049.337806 # Seafloor depth:-2115.483225 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 265.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.26; MB_Bottom_Detect_Filter_Max_Range = 265.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2114.337806 meters looking forward 200.000000 meters along route # Maximum depth: 2116.030384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2049.337806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933098; longitude = -129.113384; captureRadius = 10; duration = 104; initialDepth = 2047.102681; finalDepth = 2049.337806; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.1454189999999 # Actual altitude: 66.1454189999999 # Commanded vehicle depth:2049.337806 # Seafloor depth:-2115.058848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 264.58; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.23; MB_Bottom_Detect_Filter_Max_Range = 264.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2112.102681 meters looking forward 200.000000 meters along route # Maximum depth: 2116.030384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.102681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.933998; longitude = -129.112851; captureRadius = 10; duration = 104; initialDepth = 2044.713371; finalDepth = 2047.102681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4073510000003 # Actual altitude: 67.4073510000003 # Commanded vehicle depth:2047.102681 # Seafloor depth:-2114.510032 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.48; MB_Bottom_Detect_Filter_Max_Range = 269.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2109.713371 meters looking forward 200.000000 meters along route # Maximum depth: 2114.385671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2044.713371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.934897; longitude = -129.112317; captureRadius = 10; duration = 104; initialDepth = 2041.816762; finalDepth = 2044.713371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4073510000003 # Actual altitude: 67.4073510000003 # Commanded vehicle depth:2044.713371 # Seafloor depth:-2112.055361 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.48; MB_Bottom_Detect_Filter_Max_Range = 269.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2106.816762 meters looking forward 200.000000 meters along route # Maximum depth: 2111.862131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.816762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.935797; longitude = -129.111783; captureRadius = 10; duration = 104; initialDepth = 2038.760635; finalDepth = 2041.816762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7577940000001 # Actual altitude: 67.7577940000001 # Commanded vehicle depth:2041.816762 # Seafloor depth:-2109.574556 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.03; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2103.760635 meters looking forward 200.000000 meters along route # Maximum depth: 2109.582733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.760635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.936696; longitude = -129.111250; captureRadius = 10; duration = 104; initialDepth = 2038.760635; finalDepth = 2038.760635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7577940000001 # Actual altitude: 67.7577940000001 # Commanded vehicle depth:2038.760635 # Seafloor depth:-2106.263821 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.03; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2103.760635 meters looking forward 200.000000 meters along route # Maximum depth: 2105.405210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2038.760635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.937595; longitude = -129.110716; captureRadius = 10; duration = 104; initialDepth = 2039.024775; finalDepth = 2038.760635; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5031859999999 # Actual altitude: 67.5031859999999 # Commanded vehicle depth:2038.760635 # Seafloor depth:-2103.821053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 270.01; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.50; MB_Bottom_Detect_Filter_Max_Range = 270.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2104.024775 meters looking forward 200.000000 meters along route # Maximum depth: 2113.897646 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2039.024775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.938495; longitude = -129.110183; captureRadius = 10; duration = 104; initialDepth = 2041.948424; finalDepth = 2039.024775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.637123 # Actual altitude: 66.637123 # Commanded vehicle depth:2039.024775 # Seafloor depth:-2105.661898 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.55; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.33; MB_Bottom_Detect_Filter_Max_Range = 266.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2106.948424 meters looking forward 200.000000 meters along route # Maximum depth: 2123.865647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2041.948424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.939394; longitude = -129.109649; captureRadius = 10; duration = 104; initialDepth = 2051.346714; finalDepth = 2041.948424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7015769999998 # Actual altitude: 72.7015769999998 # Commanded vehicle depth:2041.948424 # Seafloor depth:-2114.650001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 290.81; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.54; MB_Bottom_Detect_Filter_Max_Range = 290.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2116.346714 meters looking forward 200.000000 meters along route # Maximum depth: 2136.189842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2051.346714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.940294; longitude = -129.109115; captureRadius = 10; duration = 104; initialDepth = 2061.364232; finalDepth = 2051.346714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2692690000003 # Actual altitude: 73.2692690000003 # Commanded vehicle depth:2051.346714 # Seafloor depth:-2124.615983 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 293.08; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.65; MB_Bottom_Detect_Filter_Max_Range = 293.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2126.364232 meters looking forward 200.000000 meters along route # Maximum depth: 2136.513115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2061.364232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.941193; longitude = -129.108582; captureRadius = 10; duration = 104; initialDepth = 2066.486728; finalDepth = 2061.364232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1488830000003 # Actual altitude: 75.1488830000003 # Commanded vehicle depth:2061.364232 # Seafloor depth:-2136.513115 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.60; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.03; MB_Bottom_Detect_Filter_Max_Range = 300.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2131.486728 meters looking forward 200.000000 meters along route # Maximum depth: 2136.262917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2066.486728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942092; longitude = -129.108048; captureRadius = 10; duration = 104; initialDepth = 2060.088436; finalDepth = 2066.486728; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1488830000003 # Actual altitude: 75.1488830000003 # Commanded vehicle depth:2066.486728 # Seafloor depth:-2133.678274 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 300.60; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.03; MB_Bottom_Detect_Filter_Max_Range = 300.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2125.088436 meters looking forward 200.000000 meters along route # Maximum depth: 2133.688485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2060.088436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.942992; longitude = -129.107514; captureRadius = 10; duration = 104; initialDepth = 2054.458815; finalDepth = 2060.088436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3379660000001 # Actual altitude: 71.3379660000001 # Commanded vehicle depth:2060.088436 # Seafloor depth:-2131.426402 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.27; MB_Bottom_Detect_Filter_Max_Range = 285.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2119.458815 meters looking forward 200.000000 meters along route # Maximum depth: 2130.452004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.458815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.943891; longitude = -129.106981; captureRadius = 10; duration = 104; initialDepth = 2050.312444; finalDepth = 2054.458815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.3379660000001 # Actual altitude: 71.3379660000001 # Commanded vehicle depth:2054.458815 # Seafloor depth:-2124.979704 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.35; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.27; MB_Bottom_Detect_Filter_Max_Range = 285.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2115.312444 meters looking forward 200.000000 meters along route # Maximum depth: 2124.135887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2050.312444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.944791; longitude = -129.106447; captureRadius = 10; duration = 104; initialDepth = 2047.949402; finalDepth = 2050.312444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5208889999999 # Actual altitude: 70.5208889999999 # Commanded vehicle depth:2050.312444 # Seafloor depth:-2118.969356 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.08; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.10; MB_Bottom_Detect_Filter_Max_Range = 282.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2112.949402 meters looking forward 200.000000 meters along route # Maximum depth: 2117.451062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.949402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.945690; longitude = -129.105914; captureRadius = 10; duration = 104; initialDepth = 2047.949402; finalDepth = 2047.949402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6569119999999 # Actual altitude: 68.6569119999999 # Commanded vehicle depth:2047.949402 # Seafloor depth:-2115.713899 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2112.949402 meters looking forward 200.000000 meters along route # Maximum depth: 2116.077727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.949402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.946589; longitude = -129.105380; captureRadius = 10; duration = 104; initialDepth = 2047.933546; finalDepth = 2047.949402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7644969999997 # Actual altitude: 67.7644969999997 # Commanded vehicle depth:2047.949402 # Seafloor depth:-2114.044573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 271.06; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.55; MB_Bottom_Detect_Filter_Max_Range = 271.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2112.933546 meters looking forward 200.000000 meters along route # Maximum depth: 2116.077727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.933546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.947489; longitude = -129.104846; captureRadius = 10; duration = 104; initialDepth = 2047.110705; finalDepth = 2047.933546; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3497729999999 # Actual altitude: 67.3497729999999 # Commanded vehicle depth:2047.933546 # Seafloor depth:-2115.283319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.47; MB_Bottom_Detect_Filter_Max_Range = 269.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2112.110705 meters looking forward 200.000000 meters along route # Maximum depth: 2114.199658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2047.110705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.948388; longitude = -129.104313; captureRadius = 10; duration = 104; initialDepth = 2042.634345; finalDepth = 2047.110705; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3497729999999 # Actual altitude: 67.3497729999999 # Commanded vehicle depth:2047.110705 # Seafloor depth:-2112.752631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.40; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.47; MB_Bottom_Detect_Filter_Max_Range = 269.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2107.634345 meters looking forward 200.000000 meters along route # Maximum depth: 2113.240128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2042.634345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.949288; longitude = -129.103779; captureRadius = 10; duration = 104; initialDepth = 2035.333531; finalDepth = 2042.634345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.5790729999999 # Actual altitude: 70.5790729999999 # Commanded vehicle depth:2042.634345 # Seafloor depth:-2113.213418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 282.32; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.12; MB_Bottom_Detect_Filter_Max_Range = 282.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2100.333531 meters looking forward 200.000000 meters along route # Maximum depth: 2112.771936 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2035.333531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.950187; longitude = -129.103246; captureRadius = 10; duration = 104; initialDepth = 2032.765517; finalDepth = 2035.333531; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.044281 # Actual altitude: 72.044281 # Commanded vehicle depth:2035.333531 # Seafloor depth:-2107.377812 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 288.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.41; MB_Bottom_Detect_Filter_Max_Range = 288.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2097.765517 meters looking forward 200.000000 meters along route # Maximum depth: 2106.217202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2032.765517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951086; longitude = -129.102712; captureRadius = 10; duration = 104; initialDepth = 2030.761780; finalDepth = 2032.765517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.044281 # Actual altitude: 72.044281 # Commanded vehicle depth:2032.765517 # Seafloor depth:-2100.143280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 288.18; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.41; MB_Bottom_Detect_Filter_Max_Range = 288.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2095.761780 meters looking forward 200.000000 meters along route # Maximum depth: 2099.628944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.761780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.951986; longitude = -129.102178; captureRadius = 10; duration = 104; initialDepth = 2030.761780; finalDepth = 2030.761780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.377763 # Actual altitude: 67.377763 # Commanded vehicle depth:2030.76178 # Seafloor depth:-2097.585848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.51; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.48; MB_Bottom_Detect_Filter_Max_Range = 269.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2095.761780 meters looking forward 200.000000 meters along route # Maximum depth: 2102.836306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2030.761780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.952856; longitude = -129.101662; captureRadius = 10; duration = 104; initialDepth = 2033.240746; finalDepth = 2030.761780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8240680000004 # Actual altitude: 66.8240680000004 # Commanded vehicle depth:2030.76178 # Seafloor depth:-2097.369926 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 267.30; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.36; MB_Bottom_Detect_Filter_Max_Range = 267.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2098.240746 meters looking forward 200.000000 meters along route # Maximum depth: 2105.378885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2033.240746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.953695; longitude = -129.101164; captureRadius = 10; duration = 104; initialDepth = 2037.623595; finalDepth = 2033.240746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2418710000002 # Actual altitude: 70.2418710000002 # Commanded vehicle depth:2033.240746 # Seafloor depth:-2103.482617 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.05; MB_Bottom_Detect_Filter_Max_Range = 280.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2102.623595 meters looking forward 200.000000 meters along route # Maximum depth: 2105.378885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2037.623595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.954594; longitude = -129.100631; captureRadius = 10; duration = 104; initialDepth = 2036.011400; finalDepth = 2037.623595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2418710000002 # Actual altitude: 70.2418710000002 # Commanded vehicle depth:2037.623595 # Seafloor depth:-2104.371810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.05; MB_Bottom_Detect_Filter_Max_Range = 280.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2101.011400 meters looking forward 200.000000 meters along route # Maximum depth: 2103.800460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2036.011400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.955494; longitude = -129.100097; captureRadius = 10; duration = 104; initialDepth = 2036.011400; finalDepth = 2036.011400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7482150000001 # Actual altitude: 66.7482150000001 # Commanded vehicle depth:2036.0114 # Seafloor depth:-2102.565063 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.99; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.35; MB_Bottom_Detect_Filter_Max_Range = 266.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2101.011400 meters looking forward 200.000000 meters along route # Maximum depth: 2107.819852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2036.011400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.956393; longitude = -129.099564; captureRadius = 10; duration = 104; initialDepth = 2037.179927; finalDepth = 2036.011400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.5536630000001 # Actual altitude: 66.5536630000001 # Commanded vehicle depth:2036.0114 # Seafloor depth:-2101.106139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 266.21; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.31; MB_Bottom_Detect_Filter_Max_Range = 266.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2102.179927 meters looking forward 200.000000 meters along route # Maximum depth: 2110.323003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2037.179927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.957292; longitude = -129.099030; captureRadius = 10; duration = 104; initialDepth = 2043.373173; finalDepth = 2037.179927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.748822 # Actual altitude: 71.748822 # Commanded vehicle depth:2037.179927 # Seafloor depth:-2108.928749 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.35; MB_Bottom_Detect_Filter_Max_Range = 287.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2108.373173 meters looking forward 200.000000 meters along route # Maximum depth: 2111.775496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.373173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.958192; longitude = -129.098496; captureRadius = 10; duration = 104; initialDepth = 2043.665118; finalDepth = 2043.373173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.748822 # Actual altitude: 71.748822 # Commanded vehicle depth:2043.373173 # Seafloor depth:-2108.438739 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 287.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.35; MB_Bottom_Detect_Filter_Max_Range = 287.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2108.665118 meters looking forward 200.000000 meters along route # Maximum depth: 2116.717188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2043.665118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959091; longitude = -129.097963; captureRadius = 10; duration = 104; initialDepth = 2046.970753; finalDepth = 2043.665118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.1738800000003 # Actual altitude: 68.1738800000003 # Commanded vehicle depth:2043.665118 # Seafloor depth:-2111.838998 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 272.70; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.63; MB_Bottom_Detect_Filter_Max_Range = 272.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2111.970753 meters looking forward 200.000000 meters along route # Maximum depth: 2130.218009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2046.970753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.959991; longitude = -129.097429; captureRadius = 10; duration = 104; initialDepth = 2054.623938; finalDepth = 2046.970753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8651690000002 # Actual altitude: 70.8651690000002 # Commanded vehicle depth:2046.970753 # Seafloor depth:-2117.835922 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 283.46; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.17; MB_Bottom_Detect_Filter_Max_Range = 283.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2119.623938 meters looking forward 200.000000 meters along route # Maximum depth: 2137.575671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2054.623938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.960890; longitude = -129.096896; captureRadius = 10; duration = 104; initialDepth = 2067.464384; finalDepth = 2054.623938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.604198 # Actual altitude: 76.604198 # Commanded vehicle depth:2054.623938 # Seafloor depth:-2131.228136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 306.42; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2132.464384 meters looking forward 200.000000 meters along route # Maximum depth: 2139.735388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.464384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.961789; longitude = -129.096362; captureRadius = 10; duration = 104; initialDepth = 2072.981898; finalDepth = 2067.464384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.604198 # Actual altitude: 76.604198 # Commanded vehicle depth:2067.464384 # Seafloor depth:-2137.895391 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 306.42; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 306.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2137.981898 meters looking forward 200.000000 meters along route # Maximum depth: 2141.066450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2072.981898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.962689; longitude = -129.095828; captureRadius = 10; duration = 104; initialDepth = 2069.067310; finalDepth = 2072.981898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4310070000001 # Actual altitude: 70.4310070000001 # Commanded vehicle depth:2072.981898 # Seafloor depth:-2140.325867 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.72; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2134.067310 meters looking forward 200.000000 meters along route # Maximum depth: 2141.066450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2069.067310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.963588; longitude = -129.095295; captureRadius = 10; duration = 104; initialDepth = 2063.642068; finalDepth = 2069.067310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.456111 # Actual altitude: 70.456111 # Commanded vehicle depth:2069.06731 # Seafloor depth:-2139.523421 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2128.642068 meters looking forward 200.000000 meters along route # Maximum depth: 2139.001073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.642068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.964488; longitude = -129.094761; captureRadius = 10; duration = 104; initialDepth = 2063.571608; finalDepth = 2063.642068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.456111 # Actual altitude: 70.456111 # Commanded vehicle depth:2063.642068 # Seafloor depth:-2133.802463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.82; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.09; MB_Bottom_Detect_Filter_Max_Range = 281.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2128.571608 meters looking forward 200.000000 meters along route # Maximum depth: 2133.066409 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.571608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.965387; longitude = -129.094227; captureRadius = 10; duration = 104; initialDepth = 2063.784789; finalDepth = 2063.571608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1603949999999 # Actual altitude: 70.1603949999999 # Commanded vehicle depth:2063.571608 # Seafloor depth:-2128.571608 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 280.64; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.03; MB_Bottom_Detect_Filter_Max_Range = 280.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2128.784789 meters looking forward 200.000000 meters along route # Maximum depth: 2138.838543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2063.784789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.966286; longitude = -129.093694; captureRadius = 10; duration = 104; initialDepth = 2067.731122; finalDepth = 2063.784789; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3417910000003 # Actual altitude: 67.3417910000003 # Commanded vehicle depth:2063.784789 # Seafloor depth:-2131.126580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 269.37; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.47; MB_Bottom_Detect_Filter_Max_Range = 269.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2132.731122 meters looking forward 200.000000 meters along route # Maximum depth: 2145.192869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2067.731122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.967186; longitude = -129.093160; captureRadius = 10; duration = 104; initialDepth = 2074.661175; finalDepth = 2067.731122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.414311 # Actual altitude: 71.414311 # Commanded vehicle depth:2067.731122 # Seafloor depth:-2139.145433 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 285.66; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.28; MB_Bottom_Detect_Filter_Max_Range = 285.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2139.661175 meters looking forward 200.000000 meters along route # Maximum depth: 2154.075197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2074.661175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968085; longitude = -129.092627; captureRadius = 10; duration = 104; initialDepth = 2084.946762; finalDepth = 2074.661175; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.268251 # Actual altitude: 72.268251 # Commanded vehicle depth:2074.661175 # Seafloor depth:-2146.929426 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 289.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.45; MB_Bottom_Detect_Filter_Max_Range = 289.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2149.946762 meters looking forward 200.000000 meters along route # Maximum depth: 2154.256666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2084.946762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.968985; longitude = -129.092093; captureRadius = 10; duration = 104; initialDepth = 2086.645173; finalDepth = 2084.946762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.268251 # Actual altitude: 72.268251 # Commanded vehicle depth:2084.946762 # Seafloor depth:-2153.869573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 289.07; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.45; MB_Bottom_Detect_Filter_Max_Range = 289.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.851211 meters # Minimum depth: 2151.645173 meters looking forward 200.000000 meters along route # Maximum depth: 2154.256666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.645173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.969884; longitude = -129.091559; captureRadius = 10; duration = 104; initialDepth = 2086.645173; finalDepth = 2086.645173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9228109999999 # Actual altitude: 68.9228109999999 # Commanded vehicle depth:2086.645173 # Seafloor depth:-2152.398901 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 275.69; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.78; MB_Bottom_Detect_Filter_Max_Range = 275.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # 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 104.851211 meters # Minimum depth: 2151.645173 meters looking forward 200.000000 meters along route # Maximum depth: 2155.026796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.645173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970783; longitude = -129.091026; captureRadius = 10; duration = 104; # abortOnTimeout = True; initialDepth = 2086.645173; finalDepth = 2086.645173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.7537280000001 # Actual altitude: 65.7537280000001 # Commanded vehicle depth:2086.645173 # Seafloor depth:-2151.977539 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 263.01; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.15; MB_Bottom_Detect_Filter_Max_Range = 263.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.851211 meters # Minimum depth: 2151.645173 meters looking forward 200.000000 meters along route # Maximum depth: 2160.227104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2086.645173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970750; longitude = -129.090420; captureRadius = 10; duration = 104; initialDepth = 2090.314267; finalDepth = 2086.645173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6539540000003 # Actual altitude: 68.6539540000003 # Commanded vehicle depth:2086.645173 # Seafloor depth:-2155.299127 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 274.62; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.73; MB_Bottom_Detect_Filter_Max_Range = 274.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.851211 meters # Minimum depth: 2155.314267 meters looking forward 200.000000 meters along route # Maximum depth: 2166.836589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 2230.397873 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 2090.314267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 47.970678; longitude = -129.089081; captureRadius = 10; duration = 104; initialDepth = 2090.314267; finalDepth = 2090.314267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.2435819999996 # Actual altitude: 71.2435819999996 # Commanded vehicle depth:2090.314267 # Seafloor depth:-2161.557849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 284.97; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 14.25; MB_Bottom_Detect_Filter_Max_Range = 284.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 76.908023 # Sonar parameter altitude: 76.908023 # Commanded vehicle depth:2090.314267 # Seafloor depth:-2167.222290 # behavior reson { duration = RESON_DURATION; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 210; MB_Range = 307.63; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 307.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 104.851211 meters # Minimum depth: 2155.314267 meters looking forward 200.000000 meters along route # Maximum depth: 2167.222290 meters looking forward 200.000000 meters along route # Vehicle depth: 2090.314267 meters behavior waypoint { latitude = 47.970603; longitude = -129.087681; captureRadius = 10; duration = 522; depth = 2090.314267; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2090.314267 meters set by local depth and desired altitude behavior descend { duration = 6202; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; } # # Waypoint behavior to get to start of line 1 # Segment length 104.851211 meters # Minimum depth: 2155.314267 meters looking forward 200.000000 meters along route # Maximum depth: 2167.222290 meters looking forward 200.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 47.970603; longitude = -129.087681; captureRadius = 10; duration = 500; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 10.0; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 210; MB_Range = 260.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 13.00; MB_Bottom_Detect_Filter_Max_Range = 260.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################